Computational cardiology.. modeling of anatomy, electrophysiology and mechanics

Lecture Notes in Computer Science Edited by G. Goos, J. Hartmanis, and J. van Leeuwen 2966 Frank B. Sachse Computati...

Author: Frank B. Sachse

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Lecture Notes in Computer Science Edited by G. Goos, J. Hartmanis, and J. van Leeuwen

2966

Frank B. Sachse

Computational Cardiology Modeling of Anatomy, Electrophysiology, and Mechanics

13

Series Editors Gerhard Goos, Karlsruhe University, Germany Juris Hartmanis, Cornell University, NY, USA Jan van Leeuwen, Utrecht University, The Netherlands Author Frank B. Sachse University of Utah Nora Eccles Harrison Cardiovascular Research and Training Institute 95 South 2000 East, Salt Lake City, UT 84112-5000, USA E-mail: [email protected]

Library of Congress Control Number: 2004104242 CR Subject Classification (1998): I.7, I.4, G.1, J.3, J.2 ISSN 0302-9743 ISBN 3-540-21907-2 Springer-Verlag Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag. Violations are liable to prosecution under the German Copyright Law. Springer-Verlag is a part of Springer Science+Business Media springeronline.com © Springer-Verlag Berlin Heidelberg 2004 Printed in Germany Typesetting: Camera-ready by author, data conversion by Olgun Computergrafik Printed on acid-free paper SPIN: 10996478 06/3142 543210

Preface

Biomedical research is at a critical point at present. The research has led to an enormous amount of data and models describing these data, but approaches for application, formalization and integration of this knowledge from the molecular to the system level are still topics of ongoing research and certainly far from fully developed. Also in cardiology the diﬀerent anatomical and physiological constituents as well as the coupling between them are being researched in increasing detail and are often described using computer-based models. But for this domain an integrative framework is still missing. The application of computer-based modeling as a research, development and clinical tool often necessitates the coupling of various models from diﬀerent levels. Describing the interactions between these models, which are both physically sound and computationally eﬃcient, determines the applicability of such promising computer-based attempts. My hope is that this book will contribute to the comprehension, spread and impact of computer-based modeling in cardiology, both from a teaching point of view and by summarizing knowledge from several, commonly delimited topics relating to the cardiac manifoldness. The book evolved from revision and extension of my professorial dissertation (Habilitationsschrift) “Mathematical Modeling of the Mammalian Heart” written in 2002. This dissertation was based on notes for the lectures “Computational Biology: Bioelectromagnetism and Biomechanics,” “Simulation of Physical Fields in the Human Body,” and “Anatomical, Physical and Functional Models of the Human Body,” which I gave at the Universit¨ at Karlsruhe (TH) from 1998 to 2003.

Salt Lake City, 1 February 2004

Frank B. Sachse

VI

Preface

Acknowledgement Many people merit my gratitude for their assistance and support in this work. I appreciate the scientiﬁc opportunities oﬀered by the Institut f¨ ur Biomedizinische Technik at the Universit¨ at Karlsruhe (TH), Germany, and the Nora Eccles Harrison Cardiovascular Research and Training Institute at the University of Utah, USA. Prof. Dr. Olaf D¨ ossel, Prof. Dr. Karsten Meyer-Waarden and Prof. Dr. Bruno Taccardi provided me with an excellent platform for my ‘hobby.’ I am thankful that this work has been supported by the Richard A. and Nora Eccles Fund for Cardiovascular Research and awards from the Nora Eccles Treadwell Foundation as well as several funds from the Deutsche Forschungsgemeinschaft. Also, I am grateful to the Rechenzentrum at the Universit¨ at Karlsruhe (TH), particularly Rolf Mayer, and the Scientiﬁc Computing and Imaging Institute, University of Utah, which made the necessary computing and visualization resources available. Particularly, I want to express my gratitude to Leo Bl¨ umcke, Rotraut Frech, Matthias Mohr, Prof. Dr. Carlos Sansour, Gunnar Seemann, Dr. Jeroen Stinstra, and Oleg Skipa for their numerous comments and proof-readings of this work. A large thanks must be given to Dr. Christian Werner with whom I enjoyed working for more than 5 years. Many highlights of our project wouldn’t have been possible without his various contributions. I’d like to extend this gratitude to Dr. Ingo de Boer, Nils H. Busch, Heiko Jausel, Rong Liu, Steﬀen Mang, Claudia Riedel, Manfred Schroll, Lars Thomas, Daniel Wei¨s, Markus Wolf and many students who inﬂuenced this work signiﬁcantly. Further thanks go to Matti Stenroos from Finland as well as Nuno Sa Couto and Sergio Barros from Portugal, who not only added some international ﬂavor, but also provided important contributions. I’m grateful to my parents, my brother Jochen and nephew Jan, because they demonstrated that there are important things in life other than work. My friends Reza and Dawud deserve special thanks for not losing patience even though I neglected so many of our appointments. Finally, a huge thanks to Denise, who not only tolerated my particularities resulting from this work, but also encouraged and supported me in the best possible manner.

Contents

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . V 1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 1 3

2

Mathematical and Numerical Foundation . . . . . . . . . . . . . . . . . . 2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 Einstein Summation Convention . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 Tensor Algebra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4 Numerics of Systems of Linear Equations . . . . . . . . . . . . . . . . . . . 2.4.1 Deﬁnition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4.2 Direct Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4.3 Iterative Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4.4 Singular Value Decomposition . . . . . . . . . . . . . . . . . . . . . . . 2.5 Numerical Integration of Functions . . . . . . . . . . . . . . . . . . . . . . . . 2.5.1 Deﬁnition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5.2 Trapezoidal Rule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5.3 Simpson’s Rule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5.4 Gauss Quadrature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6 Numerics of Ordinary Diﬀerential Equations . . . . . . . . . . . . . . . . 2.6.1 Deﬁnition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6.2 Euler Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6.3 Runge-Kutta Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.7 Numerics of Partial Diﬀerential Equations . . . . . . . . . . . . . . . . . . 2.7.1 Deﬁnition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.7.2 Initial Values and Boundary Conditions . . . . . . . . . . . . . . 2.7.3 Finite Element Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.7.4 Finite Diﬀerences Method . . . . . . . . . . . . . . . . . . . . . . . . . .

5 5 6 6 9 9 10 12 20 21 21 22 22 23 23 23 24 25 27 27 29 30 43

VIII

Contents

3

Theory of Electric Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Physical Laws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Maxwell’s Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 Poisson’s Equation for Stationary Current Fields . . . . . . 3.2.3 Electromagnetic Properties of Biological Tissues . . . . . . . 3.3 Numerical Solution of Poisson’s Equation . . . . . . . . . . . . . . . . . . . 3.3.1 Finite Element Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.2 Finite Diﬀerences Method . . . . . . . . . . . . . . . . . . . . . . . . . .

49 49 50 50 51 52 57 57 63

4

Theory of Continuum Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 Deﬁnitions and Physical Laws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 Deformation Gradient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.2 Strain Tensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.3 Stress Tensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.4 Stress Equilibrium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.5 Constitutive Relationships . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3 Numerical Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.1 Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.2 Interpolation via Shape-Functions . . . . . . . . . . . . . . . . . . . 4.3.3 Determination of Element Equations . . . . . . . . . . . . . . . . .

69 69 70 70 73 74 75 78 83 83 84 87

5

Digital Image Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.2 Digital Representation of Images . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5.3 Preprocessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.3.2 Transformation of Coordinates . . . . . . . . . . . . . . . . . . . . . . 93 5.3.3 Filtering Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 5.4 Segmentation Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 5.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 5.4.2 Thresholding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 5.4.3 Region Growing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5.4.4 Watershed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5.4.5 Deformable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 5.4.6 Manual Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5.5 Principal Component Transform . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5.6 Texture Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.6.2 Detection and Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.6.3 Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Contents

IX

6

Cardiac Anatomy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 6.2 Microscopic Structures and Molecular Organization . . . . . . . . . . 121 6.2.1 Myocytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 6.2.2 Gap Junctions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 6.2.3 Connective Tissue Structures . . . . . . . . . . . . . . . . . . . . . . . 133 6.3 Macroscopic Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 6.3.1 Ventricles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 6.3.2 Atria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 6.3.3 Blood Vessels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 6.3.4 Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 6.3.5 System of Excitation Conduction and Initiation . . . . . . . 140 6.3.6 Nervous System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 6.4 Modeling of Anatomy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 6.4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 6.4.2 Analytical models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 6.4.3 Imaging Systems and Data Sources . . . . . . . . . . . . . . . . . . 144 6.4.4 Modeling of Orientation and Lamination of Myocytes . . 145 6.4.5 Models from the Visible Human Project . . . . . . . . . . . . . . 146 6.4.6 Models from Magnetic Resonance Imaging . . . . . . . . . . . . 152

7

Cardiac Electrophysiology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 7.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 7.2 Cellular Electrophysiology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 7.2.1 Experimental Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 7.2.2 Modeling of Cellular Components . . . . . . . . . . . . . . . . . . . 164 7.2.3 Models of Cardiac Myocytes . . . . . . . . . . . . . . . . . . . . . . . . 171 7.3 Excitation Propagation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 7.3.1 Experimental Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 7.3.2 Modeling Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 7.3.3 Cellular Automata . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 7.3.4 Reaction Diﬀusion Systems . . . . . . . . . . . . . . . . . . . . . . . . . 203 7.3.5 Comparison of Macroscopic Models of Excitation Propagation . . . . . . . . . . . . . . . . . . . . . . . . . . 214

8

Cardiac Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 8.2 Mechanical Properties of Myocardium . . . . . . . . . . . . . . . . . . . . . . 222 8.2.1 Experimental Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 8.2.2 Modeling Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 8.3 Tension Development . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 8.3.1 Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 8.3.2 Experimental Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 8.3.3 Mathematical Modeling Approaches . . . . . . . . . . . . . . . . . 245 8.4 Mechanics in Anatomical Models . . . . . . . . . . . . . . . . . . . . . . . . . . 260

X

9

Contents

Modeling of Cardiac Electro-Mechanics . . . . . . . . . . . . . . . . . . . . 267 9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267 9.2 Electrophysiology and Force Development of Single Cells . . . . . 268 9.3 Cellular Automaton of Cardiac Force Development . . . . . . . . . . 273 9.4 Electro-Mechanics of the Myocardium . . . . . . . . . . . . . . . . . . . . . . 275 9.4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 9.4.2 Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278 9.4.3 Limitations and Perspectives . . . . . . . . . . . . . . . . . . . . . . . . 287

Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 A Physical Units and Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 B Diﬀerential Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 C Model of Stretch-Dependent Conductivity . . . . . . . . . . . . . . . . . . 293 C.1 Model Assumptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 C.2 General Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294 C.3 Restricted Formulation in Material Coordinate System . 296 C.4 Coordinate System Transformation . . . . . . . . . . . . . . . . . . 298 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

List of Figures

1.1 1.2

Drawings of Leonardo da Vinci . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of modeling of cardiac electro-mechanics . . . . . . . . . . . .

2 3

Exemplary quadratic form in two dimensions . . . . . . . . . . . . . . . . Euler method for numerical solution of ordinary diﬀerential equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 Second order Runge-Kutta method for ordinary diﬀerential equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4 Exemplary two-dimensional boundary value problem . . . . . . . . . . 2.5 Exemplary three-dimensional ﬁnite elements . . . . . . . . . . . . . . . . . 2.6 Natural coordinates in triangle, quadrilateral and tetrahedron . . 2.7 One-dimensional shape-functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.8 Two-dimensional bilinear shape-functions in quadrilaterals . . . . . 2.9 Exemplary ﬁnite diﬀerences meshes . . . . . . . . . . . . . . . . . . . . . . . . . 2.10 Exemplary node point numbering in two-dimensional mesh . . . .

14

2.1 2.2

3.1 3.2 3.3 3.4 3.5 3.6

25 26 29 32 35 36 38 44 46

3.7 3.8

Rotation in local coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . Conductivity of biological tissues in dependency on frequency . . Permittivity of biological tissues in dependency on frequency . . . Exemplary coordinate transformation of hexahedron . . . . . . . . . . Exemplary ﬁnite element with interpolation of potentials . . . . . . Exemplary ﬁnite element with interpolation of current density sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exemplary ﬁnite diﬀerences meshes for Poisson’s equation . . . . . Exemplary node point numbering in three-dimensional mesh . . .

54 56 56 60 61 62 65 66

4.1 4.2 4.3 4.4 4.5

Deformation in ﬁnite continuous medium . . . . . . . . . . . . . . . . . . . . Stresses on faces of cube . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Balance of forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hooke’s law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Bulk modulus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

70 75 76 79 80

XII

List of Figures

4.6 4.7 4.8

Shear modulus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Deformation and incremental displacements in hexahedron . . . . 84 Calculation scheme of total Lagrangian incremental formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 5.10 5.11

Structure of digital image processing . . . . . . . . . . . . . . . . . . . . . . . . 92 Exemplary aﬃne transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Exemplary radial basis function transformation . . . . . . . . . . . . . . 97 First and second order derivative ﬁlters . . . . . . . . . . . . . . . . . . . . . 99 Comparison of average and median ﬁlter . . . . . . . . . . . . . . . . . . . . 100 Opening operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Comparison of diﬀerent edge detection ﬁlters . . . . . . . . . . . . . . . . 102 Segmentation of two-dimensional image with thresholding . . . . . 103 Segmentation of three-dimensional image with thresholding . . . . 104 Segmentation of three-dimensional image with region growing . . 105 Two-dimensional image segmentation with active contour model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Potential function for active contour models . . . . . . . . . . . . . . . . . 107 Three-dimensional image segmentation with active contour model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Splitting of active contour model . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Melting of active contour model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Interactive deformation of triangle mesh (2D) . . . . . . . . . . . . . . . . 113 Interactive deformation of triangle mesh (3D) . . . . . . . . . . . . . . . . 113 Exemplary textures with orientation . . . . . . . . . . . . . . . . . . . . . . . . 115 Three-dimensional editor for assignment of orientation . . . . . . . . 116 Exemplary one-dimensional interpolations of orientations . . . . . . 118 Exemplary two-dimensional interpolations of orientations . . . . . . 118 Exemplary three-dimensional interpolation of orientations . . . . . 118

5.12 5.13 5.14 5.15 5.16 5.17 5.18 5.19 5.20 5.21 5.22 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 6.10 6.11 6.12 6.13

Historical outline of human heart with vessels, lungs and trachea . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 Isolated canine left ventricular myocyte . . . . . . . . . . . . . . . . . . . . . 121 Cardiac myocytes of hamster with connective tissue and capillaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 Molecular structure of phospholipid . . . . . . . . . . . . . . . . . . . . . . . . . 123 Molecular structure of phospholipid bilayer (2D) . . . . . . . . . . . . . 123 Molecular structure of phospholipid bilayer (3D) . . . . . . . . . . . . . 124 Intracellular structures of mammalian cardiac muscle . . . . . . . . . 126 Schematic view of sarcomere . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 Molecular structure of tropomyosin . . . . . . . . . . . . . . . . . . . . . . . . . 127 Molecular structure of myosin II . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Schematic view of myosin II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Schematic view of myosin and actin-myosin ﬁlaments . . . . . . . . . 129 Molecular structure of potassium channel Kcsa . . . . . . . . . . . . . . . 131

List of Figures

6.14 6.15 6.16 6.17 6.18 6.19 6.20 6.21 6.22 6.23 6.24 6.25 6.26 6.27 6.28 6.29 6.30 6.31 7.1 7.2 7.3 7.4 7.5 7.6 7.7 7.8 7.9 7.10 7.11 7.12 7.13 7.14 7.15 7.16 7.17 7.18

XIII

Microscopic section in canine left ventricular myocardium . . . . . 132 Cardiac collagen network in the rabbit left ventricle . . . . . . . . . . 133 Molecular structure of collagen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 Historical outline of opened human heart with atria and ventricles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 Superior view on ventricles and ostia of pig heart . . . . . . . . . . . . 135 Crista terminalis and musculi pectinati in opened right atrium of pig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Historical photography of an opened left ventricle from cow . . . . 141 Model of left ventricular anatomy . . . . . . . . . . . . . . . . . . . . . . . . . . 143 Model of papillary muscle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 Exemplary cryosection of the Visible Female data set . . . . . . . . . 144 Clipping of a cryosection from the Visible Female data set . . . . . 147 Model of visible man heart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 Model of visible man heart: Anatomy and conduction system . . 149 Model of visible female heart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Model of visible man heart with ﬁber orientation . . . . . . . . . . . . . 152 Sections of three dimensional MRT data set from canine heart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Anatomical model of canine heart . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Anatomical model of canine heart with myocyte orientation . . . 155 Action voltage measured at membrane of cardiac myocyte . . . . . 159 Action voltages in human cardiac cells . . . . . . . . . . . . . . . . . . . . . . 160 Double cell voltage clamp technique . . . . . . . . . . . . . . . . . . . . . . . . 163 Cell membrane as capacitor and resistor . . . . . . . . . . . . . . . . . . . . . 164 Nernst equation: Fluxes, potentials, and concentrations . . . . . . . 165 Goldman-Hodgkin-Katz equation: Fluxes, potentials, and concentrations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Schematic diagram of Hodgkin-Huxley model . . . . . . . . . . . . . . . . 168 Transmembrane voltage calculated with Hodgkin-Huxley model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 Rate coeﬃcients of sodium channels of Hodgkin-Huxley model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 Rate coeﬃcients of potassium channels of Hodgkin-Huxley model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 Schematic diagram of Noble model . . . . . . . . . . . . . . . . . . . . . . . . . 173 Schematic diagram of Beeler-Reuter model . . . . . . . . . . . . . . . . . . 175 Results of simulations with Beeler-Reuter model . . . . . . . . . . . . . 177 Schematic diagram of Luo-Rudy phase-1 model . . . . . . . . . . . . . . 178 Schematic diagram of Luo-Rudy phase-2 model . . . . . . . . . . . . . . 178 Results of simulations with Luo-Rudy phase-2 model . . . . . . . . . . 179 Schematic diagram of Demir-Clark-Murphey-Giles model . . . . . . 181 Results of simulations with Demir-Clark-Murphey-Giles model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

XIV

List of Figures

7.19 Results of simulations with Priebe-Beuckelmann model . . . . . . . . 183 7.20 Schematic overview of Noble-Varghese-Kohl-Noble model . . . . . . 184 7.21 Results of simulations with Noble-Varghese-Kohl-Noble model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 7.22 Stretch function for weighting of ion conductances . . . . . . . . . . . . 186 7.23 Simulations with varied static length of sarcomere (part 1) . . . . 188 7.24 Simulations with varied static length of sarcomere (part 2) . . . . 189 7.25 Simulation of initiation of action impulse by stretch (part 1) . . . 190 7.26 Simulation of initiation of action impulse by stretch (part 2) . . . 191 7.27 Exemplary electrocardiogram of normal, adult human . . . . . . . . . 192 7.28 Electrograms measured at surface of papillary muscle . . . . . . . . . 193 7.29 Modeling of electrical intercellular coupling . . . . . . . . . . . . . . . . . . 195 7.30 6- and 26-neighborhood of cells in cellular automaton . . . . . . . . . 196 7.31 Excitation wave simulated with a cellular automaton . . . . . . . . . . 197 7.32 Transmembrane voltage distribution of sinus rhythm (surface) . 198 7.33 Transmembrane voltage distribution of sinus rhythm (volume) . 199 7.34 Current source density distribution of sinus rhythm (volume) . . 200 7.35 Body surface potential map of sinus rhythm . . . . . . . . . . . . . . . . . 201 7.36 Simulated electrocardiograms of sinus rhythm . . . . . . . . . . . . . . . . 202 7.37 Rotation of wave around obstacle simulated with cellular automaton . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 7.38 Atrial ﬂutter simulated with cellular automaton . . . . . . . . . . . . . . 204 7.39 Ventricular ﬂutter simulated with cellular automaton . . . . . . . . . 205 7.40 Simulated RF ablation in human right atrium with ﬂutter . . . . . 206 7.41 Bidomain modeling of cardiac electrophysiology . . . . . . . . . . . . . . 210 7.42 Freely rotating spiral waves simulated with bidomain model . . . 212 7.43 Rotation of wave around obstacle simulated with bidomain model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213 7.44 Model of heart wall in anatomical context . . . . . . . . . . . . . . . . . . . 214 7.45 Simulation of electrophysiology in static model of heart wall . . . 215 7.46 Excitation propagation in static model of heart wall . . . . . . . . . . 216 7.47 Intracellular calcium concentration in static model of heart wall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 7.48 Simulation of scroll wave in static model of heart wall . . . . . . . . . 218 8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8

Triaxial-measurement shear-test devices for soft tissue . . . . . . . . 224 Measurement system with epicardial suction . . . . . . . . . . . . . . . . . 225 Strain energy density proposed by Demiray . . . . . . . . . . . . . . . . . . 227 Strain energy density proposed by Needleman et al. . . . . . . . . . . 228 Strain energy densities of Hunter-Nash-Sands (1D) . . . . . . . . . . . 233 Strain energy density proposed by Hunter-Nash-Sands (3D) . . . . 234 Tension derived from strain energy density of Hunter-Nash-Sands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 States and transitions of actin-activated myosin II ATPase cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

List of Figures

8.9 8.10 8.11 8.12 8.13 8.14 8.15 8.16 8.17 8.18 8.19 8.20 8.21 8.22 8.23 8.24 8.25 8.26 8.27 8.28 8.29 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 9.9 9.10 9.11 9.12 9.13 9.14 9.15 9.16

XV

Sliding of myosin and actin ﬁlament . . . . . . . . . . . . . . . . . . . . . . . . 239 Attachment to actin to myosin and its folding . . . . . . . . . . . . . . . . 239 System for measurement of force in single myocytes . . . . . . . . . . . 244 Myocyte clamped between two carbon graphite ﬁbers . . . . . . . . . 244 Steady state simulations with Hunter-McCulloch-ter Keurs model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249 State diagram of 1st Rice-Winslow-Hunter model . . . . . . . . . . . . . 251 Sarcomere overlap function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 Steady state simulations with 1st Rice-Winslow-Hunter model . 253 Dynamic simulations with 1st Rice-Winslow-Hunter model . . . . 254 State diagram of 3rd Rice-Winslow-Hunter model . . . . . . . . . . . . 255 Steady state simulations with 3rd Rice-Winslow-Hunter model . 255 Dynamic simulations with 3rd Rice-Winslow-Hunter model . . . . 256 State diagram of Gl¨ anzel-Sachse-Seemann model . . . . . . . . . . . . . 258 Steady state simulations with Gl¨ anzel-Sachse-Seemann model . . 259 Evaluation of cooperativity mechanisms . . . . . . . . . . . . . . . . . . . . . 261 Left ventricle approximated with cubic elements . . . . . . . . . . . . . . 262 Slices with myocyte orientation (part 1) . . . . . . . . . . . . . . . . . . . . . 262 Slices with myocyte orientation (part 2) . . . . . . . . . . . . . . . . . . . . . 263 Deformed ventricle with myocyte orientation (−45◦ , −45◦ , −45◦ ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 Deformed ventricle with myocyte orientation (−45◦ , 0◦ , 45◦ ) . . . 265 Deformed ventricle with myocyte orientation (0◦ , 0◦ , 0◦ ) . . . . . . 266 Modeling of coupled cellular electro-mechanics . . . . . . . . . . . . . . . 268 Static simulations: Noble et al. and 1st Rice et al. model . . . . . . 269 Static simulations: Luo-Rudy and 3rd Rice et al. model . . . . . . . 270 Static simulations: Noble et al. and 3rd Rice et al. model . . . . . . 271 Static simulations: Priebe et al. and Gl¨ anzel et al. model . . . . . . 272 Cellular automaton of cardiac force development . . . . . . . . . . . . . 273 Force development simulated by cellular automaton (surface, part 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274 Force development simulated by cellular automaton (surface, part 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 Force development simulated by cellular automaton (volume, part 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276 Force development simulated by cellular automaton (volume, part 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277 Modeling of electro-mechanics in myocardium . . . . . . . . . . . . . . . . 278 Coupling of myocytes with gap junctions and extracellular space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279 Force development in static model of heart wall . . . . . . . . . . . . . . 279 Transmembrane voltage in fully coupled model . . . . . . . . . . . . . . . 280 Normalized force and deformation in fully coupled model . . . . . . 281 Apical view on deformation in ventricular model (part 1) . . . . . . 284

XVI

List of Figures

9.17 9.18 9.19 9.20 9.21 9.22 C.1 C.2

Apical view on deformation in ventricular model (part 2) . . . . . . 285 Ratio of endocardial volume in electro-mechanical model . . . . . . 285 Parameters extracted from electro-mechanical model (part 1) . . 286 Parameters extracted from electro-mechanical model (part 2) . . 286 Deformation in biventricular model . . . . . . . . . . . . . . . . . . . . . . . . . 287 Deformation in diﬀusion weighted MRT biventricular model . . . 288 Deformation of grid of resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 Cube and deformed cube . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

List of Tables

2.1 2.2

Tensors of diﬀerent order and type . . . . . . . . . . . . . . . . . . . . . . . . . 8 Gauss quadrature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

5.1

Linear, three-dimensional ﬁlters and their 3 × 3 × 3 masks . . . . . 99

7.1

Electrophysiological models of cardiac cells . . . . . . . . . . . . . . . . . . 172

8.1 8.2 8.3 8.4 8.5 8.6

Measurements of mechanical properties of myocardium . . . . . . . . 223 Models of mechanical properties of myocardium . . . . . . . . . . . . . . 226 Exemplary parameter set of Hunter-Nash-Sands model . . . . . . . . 234 Force measurements of cardiac muscle . . . . . . . . . . . . . . . . . . . . . . . 241 Force measurements of cardiac myocytes . . . . . . . . . . . . . . . . . . . . 242 Mathematical models of force development in muscle and myocytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 8.7 State variables of Landesberg-Sideman force model . . . . . . . . . . . 248 8.8 Tropomyosin and cross bridge state variables of Rice et al. model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251 8.9 Ca2+ binding to troponin C state variables of Rice et al. model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 8.10 Rate coeﬃcients . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 9.1

Parameters extracted from simulation with electro-mechanical model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 A.1 Physical units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 A.2 Physical constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

1 Introduction

1.1 Motivation Modeling of the heart allows the gain of knowledge concerning the interplay of anatomical structures and physical phenomena, which contribute to cardiac physiological and pathophysiological behavior. Applications of this knowledge are found in biomedical research, education and training as well as in development and approval of drugs and medical devices. An important application of modeling in biomedical research is to understand mechanisms of heart failure, which is a leading cause of death in humans. Usage of appropriate models simpliﬁes development and validation of drugs and medical devices. Modeling allows the exploration of a product’s side eﬀects, which is of particular importance for the product’s approval. Cardiac models provide a simpliﬁed description of the heart and can exist in a physical and mathematical representation. E.g. in clinical research the modeling of human hearts commonly refers an animal’s heart, which is applied in an experiment. Mathematical models are commonly computer-based and applied in numerical simulations. Modeling of the heart is subject of manifold, often interdisciplinary research activities undertaken in academic and commercial ﬁelds. The activities range from the description of molecular structures and interactions to reconstruction of gross anatomy and whole heart electro-mechanic behavior. Explorations of the heart were performed as early as in the middle ages and the renaissance. Initially, the explorations consisted of anatomical studies by dissection of animals. First models of cardiac anatomy and physiology were constructed (Fig. 1.1), which are now considered as outdated resulting from new insights. Nevertheless, over centuries mediaeval graphical reconstructions of the heart served as foundation for medical education parallel to or substituting dissection of cadavers. In recent decades new insights in the function and structure of the heart have been gained by the availability of new measurement techniques. The molecular structure and arrangement of cardiac cells have been explored e.g.

F.B. Sachse: LNCS 2966, pp. 1–4, 2004. c Springer-Verlag Berlin Heidelberg 2004

2

1 Introduction

(a)

(b)

Fig. 1.1. Drawings of Leonardo da Vinci. (a) Upper part of anatomical drawing of woman’s torso with heart, blood vessels and kidneys [1]. The heart is divided into two chambers connected to blood vessels. (b) Model of heart’s function [2]. The heart was considered as a furnace with inlets and outlets. An exchange of air is performed through connections to the lungs, which are viewed as chimney. The transport of heat to the body is made by blood ﬂowing through the vessels. The model was subsequently modiﬁed by Leonardo da Vinci to incorporate new perceptions.

with new imaging techniques. Electrophysiological behavior has been measured at levels ranging from molecular, cellular to whole hearts. Mechanical properties and cardiac mechanics have been scanned by a variety of experiments. In recent time data concerning gene and protein expression in cardiac cells is raised under physiological and variant pathophysiological circumstances. Many of these measurements have been used to describe mathematically the properties and behavior of cardiac tissue. Mathematical descriptions can be applied to simulate tissue behavior. The increase in computing capability in recent years has simpliﬁed and speeded up signiﬁcantly the realization of simulations. On the one hand, these simulations oﬀer the possibility of reconstruction of previously performed measurements. On the other hand, apriori unknown behavior can be predicted and complex phenomena can be studied. The topic of this work is the computer-based, mathematical modeling of the heart. The application of modeling as a research, development and clinical tool is stressed as a promising attempt to address many problems in cardiology, heart surgery and biomedical engineering. The modeling includes the areas of anatomy, electrophysiology, excitation propagation, force development and mechanics as well as the coupling of these areas (Fig. 1.2). The work shows knowledge at molecular, cellular and macroscopic level, how these areas can be studied with measurements, and how these areas can be modeled with mathematical methods. Detailed informa-

1.2 Organization

3

Excitation propagation

Anatomy

Cellular electrophysiology

Deformation

Cellular force development

Fig. 1.2. Overview of modeling of cardiac electro-mechanics. Anatomical information determines modeling of cellular electrophysiology, excitation propagation, force development and deformation. The inﬂuence of the diﬀerent areas to each other is depicted by arrows.

tion of phenomena on each of these levels is necessary to understand the ideas behind the modeling. Special attention is given to macroscopic and integrative modeling with the aim of reconstruction of whole heart behavior. At macroscopic level anatomical models provide a basis for electrophysiological and mechanical models. Of particular interest is the assessment of inﬂuence of cardiac deformation to initiation and propagation of electrical excitation and to the force development. Variant simulation studies are demonstrated, which provide information about this assessment.

1.2 Organization In the ﬁrst section of this work a foundation of mathematics and numerics is provided. Mathematical deﬁnitions and formulations as well as numerical techniques are explained, which are relevant for modeling of cardiac electrophysiology and mechanics. The focus is particularly on the ﬁnite element and ﬁnite diﬀerences method, which are the standard techniques for solving many tasks in mechanical and electrical engineering. With the next two sections the theory of electric ﬁelds and continuum mechanics is introduced regarding the numerical calculation in anisotropic biological media, particularly with the

4

1 Introduction

ﬁnite element method. In the following section an overview of digital image processing techniques is given, which are of pragmatic importance in conjunction with data from medical imaging systems. The section ‘cardiac anatomy’ oﬀers detailed information of molecular and cellular structures as well as of gross anatomy. Models are introduced resulting from the application of digital image processing to images of human and animal hearts. The next section gives an introduction to cardiac electrophysiology at diﬀerent levels. A multitude of cellular and excitation propagation models is introduced. The section ‘cardiac mechanics’ presents experiments concerning deformation and models of mechanical properties of myocardium. Simulations illustrate the connection between arrangement of cardiac ﬁbers and deformation. The ﬁnal section concerns the coupling of electrophysiology and mechanics. The modeling of cardiac electro-mechanics is presented at diﬀerent levels and with various techniques. Simulations depict the phenomena of coupled electro-mechanics and are contrasted with results from non-coupled models.

2 Mathematical and Numerical Foundation

2.1 Overview The mathematical modeling of biological systems is a subtopic of computational biology. This kind of modeling permits new insights into biological systems with the aid of numerical methods and computer systems. The modeling necessitates knowledge concerning useful mathematical notation and eﬃcient numerical treatment of the occurring equations. The topic of this chapter is to give a summary and description of these mathematical ﬁelds, which are of importance in the context of this work for the mechanical and electrophysiological modeling of a speciﬁc biological system, i.e. the mammalian heart. The Einstein summation convention is introduced, which allows a concise notation for equation systems comprising summations. The usage of the summation convention is useful, e.g. in continuum mechanics. An introduction to tensor algebra is given because many of the physical quantities in electromagnetism and mechanics are represented as tensors, to incorporate the eﬀects of coordinate transformations. Methods for the numerical solving of linear equation systems are presented in detail. A focus of the description is given to methods, which allow the solution of very large, sparse systems. The numerical integration of equations is described, which is an important technique e.g. for the application of the ﬁnite element and ﬁnite diﬀerences method. The theory of diﬀerential equations is presented in conjunction with numerical methods convenient for solving large, coupled equation systems. Ordinary diﬀerential equations are used in the context of this work to describe the electrophysiological behavior of cells. Commonly, ﬁve to seventy coupled diﬀerential equations of ﬁrst order are combined to a system and numerically solved. The solvability of these systems strongly depends on the eﬃciency of the solving methods. Partial diﬀerential equations are the mathematical foundation for modeling of electromagnetic ﬁelds and mechanical behavior. The diﬀerential equations can be numerically handled using the ﬁnite element and ﬁnite diﬀerences method. F.B. Sachse: LNCS 2966, pp. 5–48, 2004. c Springer-Verlag Berlin Heidelberg 2004

6

2 Mathematical and Numerical Foundation

2.2 Einstein Summation Convention The Einstein summation convention was introduced by Albert Einstein in the formulation of the theory of relativity [3]. The convention reduces the complexity of equations by omitting the traditional sign Σ for summation. Instead of this sign twice occurring indices designate the summation. Both, subscripts and superscripts, are taken into account, e.g.: ai xi ≡ ai xi i

ai xi ≡ ai xi

i

ai xi ≡ ai xi

i

i

ai xi ≡ ai xi

i

aij xi yj ≡ aij xi yj

j

The range of summation as well as the diﬀerentiation between superscripts and exponents are context dependent. The repeated indices are so-called dummy indices, which can be renamed arbitrarily taking already existing names into account. The handling of equation systems is simpliﬁed by the usage of free indices. These occur solitary in the equations and the range of free indices is context dependent. Commonly, the same range as for the summation of the dummy indices is assumed, e.g.: y1 = a11 x1 + a12 x2 + a13 x3 yi = aij xj with i, j = 1, 2, 3 ≡ y2 = a21 x1 + a22 x2 + a23 x3 y3 = a31 x1 + a32 x2 + a33 x3

2.3 Tensor Algebra Deﬁnition. Tensors are introduced to describe mathematical and physical quantities under coordinate transformations. Depending on the type and order of a tensor speciﬁc laws for the transformation of tensor coeﬃcients have to be obeyed. Coordinate Transformation. A transformation in a region of Rn from one coordinate system to another is given by: x¯i = x¯i (x1 , x2 , . . . , xn )

(2.1)

with 1 ≤ i ≤ n. The Jacobian matrix J of the coordinate transformation combines its ﬁrst-order partial derivatives and is given by:

2.3 Tensor Algebra

7

∂x ¯i J= ∂xj The determinant of the Jacobian matrix is named the Jacobian of the coordinate transformation. If the Jacobian J does not vanish, the coordinate transformation is called bijective. Then, an inverse coordinate transformation can be deﬁned as: x1 , x ¯2 , . . . , x ¯n ) (2.2) xi = xi (¯ ¯ with an attributed inverse Jacobian matrix J: i ∂x J¯ = ∂x ¯j The determinant of the inverse Jacobian matrix J¯ is referred to as the inverse Jacobian J¯. The coordinate systems of the transformation in equations 2.1 and 2.2 are arbitrary, e.g. Cartesian, aﬃne and curvilinear. A coordinate system is called rectangular or Cartesian if the distance d between any two desired points A and B is determined by: √ d = ∆i ∆i with ∆ ≡ B−A. An aﬃne coordinate system is constructed if a linear transformation is used in equation 2.1. Nonlinear transformations lead to curvilinear coordinate systems, e.g. polar, cylindrical and spherical systems. In this work speciﬁc coordinate transformations are described in the area of continuum mechanics (Sect. 4.2.1) and digital image processing (Sect. 5.3.2). First Order Tensors. A vector T i associated to a point x is called a contravariant tensor of ﬁrst order or contravariant vector, if it changes its coeﬃcients under the coordinate transformation in equation 2.1 according to the following laws of transformation: i

∂x ¯ T¯ i = T j j ∂x Similarly, a vector Ti is called a covariant tensor of ﬁrst order or covariant vector, if it changes its coeﬃcients under coordinate transformations according to the following laws of transformation: j

∂x T¯i = Tj i ∂x ¯

Tensors of Arbitrary Order. Tensors with order higher than one can be of mixed type, i.e. contravariant of order p and covariant of order q. A deﬁnition of tensors of arbitrary order n = p + q is given by [3]: ¯i1 ∂x ¯ip ∂xl1 ∂xlq i ...i k ...k ∂ x T¯j11...jqp = Tl11...lq p k1 · · · kp j1 · · · jq ∂x ∂x ∂ x ¯ ∂x ¯

8

2 Mathematical and Numerical Foundation

Table 2.1. Tensors of diﬀerent order and type. A tensor T is transformed to the tensor T¯ obeying a type and order speciﬁc law of transformation. Order Type 0 1 1 2 2 2 4 4

Law

invariant contravariant covariant contravariant covariant mixed contravariant covariant

T¯ = T ∂x ¯i T¯ i = T j ∂x j j T¯i = Tj ∂x ∂x ¯i ¯j ∂x ¯i ∂ x T¯ ij = T kl ∂x k ∂xl k ∂xl T¯ij = Tkl ∂x ∂x ¯i ∂ x ¯j i ∂x ¯ ∂xl T¯ji = Tlk ∂x k ∂x ¯j ¯j ∂ x ¯k ∂ x ¯l ∂x ¯i ∂ x T¯ ijkl = T mnop ∂x m ∂xn ∂xo ∂xp m n o p T¯ijkl = Tmnop ∂x i ∂x j ∂xk ∂x l ∂x ¯

∂x ¯

∂x ¯

∂x ¯

The index position indicates the tensor type. A superscript denotes a contravariant tensor, a subscript a covariant tensor. Exemplary deﬁnitions of tensors with orders zero up to four, which are the relevant cases in the context of this work, are given in table 2.1. Symmetry Properties. A tensor is symmetric concerning some indices, if the interchange of the indices does not change the tensor coeﬃcients. The tensor is anti-symmetric or skew-symmetric, if the interchange of indices leads to a change of the sign of tensor coeﬃcients. E.g. a second order tensor Tij is symmetric, if Tij = Tji . The tensor is anti-symmetric, if Tij = −Tji . Aﬃne and Cartesian Tensors. Aﬃne tensors are subject to linear coordinate transformations resulting in a Jacobian matrix J given by: i ∂x ¯ = aij J= j ∂x with constant, scalar coeﬃcients aij . The Jacobian J does not vanish, i.e. |aij | = 0. Cartesian tensors are resulting from orthogonal coordinate transformations. These take a Cartesian system into another, where the origins of the Cartesian systems remain the same. Hereby, the Jacobian matrix of the transformation J and its inverse Jacobian matrix J¯ are connected by: J¯ = J −1 = J T Therefore, the transformation laws of contravariant Cartesian tensors T i and covariant Cartesian tensors Ti are equal, e.g. for tensors of ﬁrst order: i

∂x ¯ T¯ i = T j j = T j aij ∂x

2.4 Numerics of Systems of Linear Equations

9

j

∂x T¯i = Tj i = Tj aji ∂x ¯ Because of the equality the notation of these tensors can be simpliﬁed. Commonly, Cartesian tensors are notated using subscripts. Invariants of Second-Order Tensors. The eigenvalues λ of symmetric, real tensors of second order Tij are given by: |Tij − λδij | = 0 The deﬁnition of the determinant allows to formulate the characteristic polynomial: λ3 − IT λ2 + IIT λ − IIIT λ = 0 with the invariants IT , IIT and IIIT of the symmetric, real tensors of second order Tij deﬁned as: IT = tr(Tij ) = Tii 1 IIT = (Tii Tjj − Tij Tij ) 2 IIIT = det(Tij ) The invariants are independent of the chosen coordinate system.

2.4 Numerics of Systems of Linear Equations 2.4.1 Deﬁnition The eﬃcient numerical solution of systems of linear equations is a fundamental task in diﬀerent areas of computational physics and biology. A system of linear equations is deﬁned as: a11 x1 + a12 x2 + · · · + a1N xN + b1 = 0 a21 x1 + a22 x2 + · · · + a2N xN + b2 = 0 .. . aM1 x1 + aM2 x2 + · · · + aMN xN + bM = 0 with the a-priori known coeﬃcients aij and bi as well as the unknowns xj . The number of lines is M and the number of unknowns equals N . The system of linear equations can be described using another notation: N

aij xj + bi = 0 with i = 1, . . . , M

summation convention

j=1

aij xj + bi = 0 Einstein Summation convention

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2 Mathematical and Numerical Foundation

Ax + b = 0 matrix formulation with the matrix A = [aij ] as well as the vectors b = [bi ] and x = [xj ]. A matrix A is named symmetric if it is equal to its transpose: A = AT with AT = [aji ]. A matrix A is quadratic if its number of rows M equals the number of columns N , i.e. M = N . A matrix A is called positive-deﬁnite, if ∀ xT Ax > 0

x=0

Positive-deﬁniteness of a matrix A is ensured, if the ‘larger’ condition is weakened to a ‘larger equal’ condition. Diagonal dominance of a matrix is fulﬁlled, if |aii | >

N

|aij |

i=0,i=j

Often, matrices with only a small number of elements not equal to zero are subject to numerical treatment. This kind of matrix is called sparse. Eﬃcient methods for storing and numerical solution were developed [4, 5]. A special class of sparse matrices is band diagonal, where nonzero elements are found only in some diagonal lines parallel to the main diagonal [5]. The bandwidth of a band diagonal matrix m is given by: ∀

aij = 0

i∈{1,..,N },j∈{1,..,N },|i−j|>m

Direct and iterative methods are distinguished to solve systems of linear equations. Direct methods are based on the successive elimination of the unknown, e.g. with Gauss and Cholesky algorithm. Iterative methods use an iterative reﬁnement of approximate solutions. Representatives of iterative methods are the steepest descent and conjugate gradient techniques as well as the more historical approaches of Jacobi, Gauss-Seidel and successive overrelaxation. Further representatives are the multigrid methods. 2.4.2 Direct Methods Gauss Algorithm. The Gauss Algorithm is a well-known representative of the direct methods and can be described by factorization of the positive deﬁnite, symmetric matrix A into the diagonal matrix left D, the lower triangular matrix L and its transpose, upper triangular matrix LT : A = LDLT

2.4 Numerics of Systems of Linear Equations

The matrix L is given by:  1 0 ...  l2 1 1 0   l3 1 l3 2 1  L= ... ...  ...  lN −1 1 lN −1 2 lN −1 3 lN 1 lN 2 lN 3

... ... ... ... 0 ... ... ... ... 1 . . . lN N −1

11

 0 0   0   ...  0  1

The matrices D and L result from the so-called Gaussian elimination, where the elements below the main diagonal of the matrix A are eliminated successively. This leads to the upper triangular matrix R: A = LR with following shape 

r1 1  0   0 R=  ...   0 0

r1 2 r2 2 0 ... 0 0

r1 3 r2 3 r3 3 ... 0 0

 . . . r1 N −1 r1 N . . . r2 N −1 r2 N   . . . r3 N −1 r3 N   ... ... ...   . . . rN −1 N −1 rN −1 N  ... 0 rN N

The matrix R can be expressed by the diagonal matrix D and the transpose of the lower triangular matrix L: DLT = R The solution of the equation system is achieved in three steps using two auxiliary vectors. In each step one of the matrix factors is applied. In the ﬁrst step the auxiliary vector z is determined by: −Lz + b = 0 The second step serves to calculate the auxiliary vector y: −Dy + z = 0 The third step delivers the solution vector x: LT x + y = 0 A disadvantage of the Gauss algorithm is the destruction of band diagonal properties. Commonly, the matrix L is ﬁlled with nonzero elements in the whole lower triangular area and the matrix R in the whole upper triangular area.

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2 Mathematical and Numerical Foundation

Cholesky Algorithm. The Cholesky algorithm uses a factorization of the matrix A into the lower triangular matrix L and its transpose LT : A = LLT The matrix L is given by:  l1 1 0 ...  l2 1 l2 2 0   l3 1 l3 2 l3 3  L= ... ...  ...  lN −1 1 lN −1 2 lN −1 3 lN 1 lN 2 lN 3

 ... ... 0 ... ... 0   0 ... 0   ... ... ...   . . . lN −1 N −1 0  . . . lN N −1 lN N

The matrix L results from a process, the so-called ‘taking the square root’ [5], where line-wise its elements are calculated. At ﬁrst for each line the i-th diagonal element lii is determined with: lii = (aii −

i−1

2 1/2 lik )

k=1

The non-diagonal element lij of the i-th line and j-th column is given by: lij =

1 ljj

(aij −

j−1

lik ljk )

k=1

The solution of the equation system is achieved in two steps using a single auxiliary vector. In each step one of the two matrix factors, L and LT , is applied. In the ﬁrst step the auxiliary vector y is determined: −Ly + b = 0 The second step delivers the solution vector x: LT x + y = 0 The Cholesky algorithm necessitates positive-deﬁniteness and symmetry of the matrix A as well as respects the band diagonal properties. The numerical expense of the Cholesky method is found to be half of the expense of the Gauss algorithm. 2.4.3 Iterative Methods Deﬁnition. Iterative methods use an iterative reﬁnement of approximate solution x(k) . The 0-th approximate solution x(0) or so-called start vector is

2.4 Numerics of Systems of Linear Equations

13

given, e.g. set with a random and zero vector as well as with results from precalculations with similar and simpliﬁed matrices. A sequence of approximate solutions is calculated: x(0) → x(1) → · · · → x(n) The error of an approximate solutions e(k) is deﬁned as: e(k) = x − x(k) with the exact solution x. The error e(k) is also called the correction. The common goal of iterative methods is to reduce the error iteratively. The residuum of an approximate solutions r (k) is deﬁned as: r(k) = Ax(k) + b An iterative method is called convergent if the same solution is found independently of the start-vector x(0) for k → ∞. A method shows linear convergence if the following inequation is fulﬁlled for all but ﬁnite k: e(k+1) ≤ ξe(k) where · denotes some norm and ξ the contraction number. The contraction number is larger or equal to the convergence rate. The term convergence rate is also referred to as the velocity of convergence and the velocity of iteration [6]. Because the error e(k) is commonly not known during a solution process, an approximate convergence rate deﬁned with the residuum is frequently applied. Steepest Descent Method. The steepest descent method applies a minimization of the quadratic form F : F (x) =

1 T x Ax + bT x 2

concerning the vector x to solve the equation Ax + b = 0 (Fig. 2.1). A minimum is found if the gradient of the quadratic form F equals zero: ∇F (x) = Ax + b = 0 The minimization is performed iteratively starting with the approximate solution x(0) . The k-th solution x(k) is calculated using the gradient of the quadratic function r(k−1) at the previous solution x(k−1) : r(k−1) = ∇F (x(k−1) ) = Ax(k−1) + b The k-th solution x(k) is determined by moving from the previous solution x(k−1) in direction of the gradient r (k−1) : x(k) = x(k−1) + α(k) r(k−1)

(2.3)

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2 Mathematical and Numerical Foundation

Fig. 2.1. Exemplary quadratic form in two dimensions. The value of the function

81 x1 T 1 T , the matrix A = , and F (x) = 2 x Ax + b x with the vector x = x2 11 2 the vector b = is plotted in the domain [−1, 1][−1, 1]. The minimum of the 1 function F corresponds to the solution of the equation system Ax + b = 0.

where the scalar factor α(k) is chosen by a minimization of the quadratic form F : ∂F (x(k) ) = 0 (2.4) ∂α(k) Hence, the factor α(k) is determined by: α(k) = −

r (k−1)T r(k−1) r (k−1)T Ar(k−1)

The iteration is commonly stopped, if some norm of the residuum r(k) becomes smaller than a given threshold or the iteration number k is larger than a given value. The steepest descent method necessitates positive-deﬁniteness of the matrix A. Commonly, the method shows a small convergence rate [5]. The matrix A is unchanged during the solving process. Vector-vector and matrix-vector multiplications are the principle operations. Conjugate Gradient Method. The conjugate gradient method uses like the steepest descent method a minimization of the quadratic function F : F (x) =

1 T x Ax + bT x 2

to determine a solution of the system of linear equations Ax + b = 0. The matrix A has to be symmetric and positive-deﬁnite. The ﬁrst step of the conjugate gradient method is the determination of the quadratic function’s gradient r (0) at a given initial solution x(0) : r (0) = ∇F (x(0) ) = Ax(0) + b

2.4 Numerics of Systems of Linear Equations

15

The minimization in direction of the gradient r (0) delivers a new approximate solution x(1) similar to the steepest descent method (equations 2.3 and 2.4). A secondary vector p(k) is used in the conjugate gradient method to determine the direction of a correction. Initially, the vector p(1) is set to the negative of the residuum r(0) . In the k-th step the solution x(k) is determined by x(k) = x(k−1) + α(k) p(k) where the minimization of the function F in direction of p(k) delivers the scalar factor α(k) : ∂ F (x(k) ) = 0 ∂α(k) The factor α(k) is calculated with the residual r(k−1) and the direction p(k) : α(k) = −

r(k−1)T r(k−1) p(k)T Ap(k)

The k-th direction p(k) is determined with the residual r (k−1) , the direction p(k−1) and the scalar factor β (k−1) . p(k) = −r(k−1) + β (k−1) p(k−1) The factor β (k−1) results from the condition that the directions p(k) and p(k+1) should be conjugate, i.e.: p(k) Ap(k+1) = 0 Therefore, the factor β (k−1) is given by: β (k−1) =

r(k−1)T Ap(k−1) p(k−1)T Ap(k−1)

The k-th residual is deﬁned by: r(k) = r(k−1) + α(k) Ap(k) The process constructs a sequence of directions, which are pairwise conjugated, and residuals, which are orthogonal [4]. Therefore, the process terminates theoretically after N steps. Although numerical problems may increase the iteration number, in many practical cases a prior termination is possible, e.g. when a suﬃcient accuracy is achieved. Diﬀerent variants of the conjugate gradient methods are developed, e.g. the biconjugate gradient method allows the treatment of systems with nondeﬁnite as well as asymmetric matrices [5].

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2 Mathematical and Numerical Foundation

Jacobi Method. The Jacobi method converges if the matrix A is diagonally dominant. The method is performed by decomposition of the matrix A into the sum of the lower triangular matrix L, the diagonal matrix D and the upper triangular matrix U : A =L+D+U Starting with a given vector x(0) the k-th approximate solution x(k) is determined with the scheme: x(k) = D−1 (−(L + U )x(k−1) + b) Alternatively, the equation system can be described in summation formulation, where the i-th coeﬃcient of the solution vector xi is given by:   n−1 1  bi + aij xj  xi = − aii j=0,j=i

(1)

The coeﬃcients of the ﬁrst approximate solution vector xi by:   n−1 1  (1) (0)  bi + aij xj xi = − aii

are determined

j=0,j=i

(0)

with the coeﬃcients of the initial solution vector xj . Similarly, the k-th (k)

solution vector’s coeﬃcients xi can be achieved using the previous solution (k−1) vector xi :   n−1 1 (k) (k−1)  bi + aij xj xi = − aii j=0,j=i

Similar to the other iterative methods, the iteration is commonly stopped, if some norm of the residuum r (k) becomes smaller or the iteration number k becomes larger than a given value. The method is only of theoretical interest because the convergence rate is small. E.g. with N ×N matrices resulting from ﬁnite diﬀerence approximations (Sect. 2.7.4) of a partial diﬀerential equation, i.e. the Poisson equation, the number of iterations r to reduce the error by the factor 10−p is given by [5]: r

1 pN 2 2

Gauss-Seidel Method. The Gauss-Seidel method is closely related to the Jacobi method. In contrast to the Jacobi method where the new solution takes knowledge only of the previous solution, the Gauss-Seidel method takes already calculated coeﬃcients of the new solution into account. The matrix decomposition is given by:

2.4 Numerics of Systems of Linear Equations

17

(L + D)x(k) = −U x(k−1) + b (k)

In summation formulation the k-th step the new coeﬃcients xi mined by:   i−1 n−1 1  (k) (k) (k−1)  aij xj + aij xj xi = − bi + aii j=0 j=i+1

are deter-

The method increases the convergence in comparison with the Jacobi method. In the upper example the number of iterations r is halved. A further advantage is that the new and previous solution can share their storage. Nevertheless, the Gauss-Seidel method is unemployable for large problems because of its small convergence rate. Successive Overrelaxation. Successive overrelaxation improves the Jacobi and Gauss-Seidel method. Successive overrelaxation applies a weighting on the diﬀerence ∆ between the previous solution x(k−1) and an approximation obtained with the methods. The weighted diﬀerence is added to the previous solution to achieve the new solution x(k) : x(k) = x(k−1) + ω∆ The weighting is done with a factor ω. The diﬀerences ∆J and ∆GS for the Jacobi and Gauss-Seidel method, respectively, are given by: ∆J = D −1 (−(L + U )x(k−1) + b) − x(k−1) ∆GS = (L + D)−1 (−U x(k−1) + b) − x(k−1) (k)

In matrix formulation the k-th step the new coeﬃcients xi

are determined

by:    n−1 1 (k−1) (k−1)  (k−1)  bi + − xi = xi + ω − aij xj aii j=0,j=i     i−1 n−1 1 (k−1) (k−1) (k−1)  (k−1)  bi + − xi = xi + ω − aij xj + aij xj aii j=0 j=i+1 

(k)

xi

(k)

xi

for the Jacobi and Gauss-Seidel method, respectively. The successive overrelaxation converges if the matrix A is positive-deﬁnite and the weighting factor ω in the interval ]0 : 2[. The appropriate selection of the factor ω is of importance to obtain large convergence rates. The optimal setting of the factor ω depends on the matrix properties. For a factor ω less than one the method performs a so-called underrelaxation, which is of interest for example in the multigrid methods. For a factor ω equal to one

18

2 Mathematical and Numerical Foundation

the successive overrelaxation reduces to the Jacobi or Gauss-Seidel method. Commonly, the factor ω is determined by numerical experiments. For some classes of matrices an analytical determination of the optimal factor exists. Optimal parameterization delivers a number of iterations r to reduce the error by the factor 10−p in the upper problem, which is linearly dependent on the number of unknowns N . The number r is given by: r

1 pN 3

Multigrid Method. Multigrid methods are applied for the solution of systems of linear equations resulting from discretization of partial diﬀerential equation [7, 6], e.g. with the ﬁnite element (Sect. 2.7.3) and ﬁnite diﬀerences method (Sect. 2.7.4). The methods necessitate the generation of diﬀerent approximations of the linear equation systems, which can be achieved e.g. by simpliﬁcation and coarsening of the spatial discretization. The h-th approximation of the linear equation system is given by: Ah xh + bh = 0 The motivation of multigrid methods can be understood by an frequency analysis of approximate solution’s errors. Depending on their frequency the errors are reduced diﬀerently. E.g. the Jacobi and Gauss-Seidel methods decrease rapidly errors of high frequency while neglecting errors of low frequency. Therefore, it can be of advantage to reduce the errors in an appropriate spatially discretization. Three types of operators are used in multigrid methods: • • •

Restriction Prolongation Smoothing

The restriction operator transfers values from ﬁne to coarse discretized domains. The prolongation operator transfers values from coarse to ﬁne domains. Commonly, the restriction as well as the prolongation operator are linear and global. The smoothing operator has the task of reducing eﬃciently high frequency errors in the diﬀerent domains. Two-Grid Method. The simplest multigrid method is the two-grid method. (0) At ﬁrst, the residuum rh in the ﬁne discretized domain is determined: (0)

(0)

r h = Ah xh + bh (0)

with the startvector xh . The residuum is then transferred to the coarse domain using a restriction operator. The restriction operator performs an averaging and resampling of the residuum. In a three-dimensional domain, each of the following two operators R3×3×3 and R2×2×2 can be applied to

2.4 Numerics of Systems of Linear Equations

19

(0)

generate a coarse approximation rh−1 . The operators are represented by a matrix: 

 11 1  1 1   R2×2×2 =  8 11  11   0.125 0.25 0.125   0.25 0.5 0.25      0.125 0.25 0.125        0.25 0.5 0.25  1     0.5 1 0.5 R3×3×3 =   8    0.25 0.5 0.25    0.125 0.25 0.125      0.25 0.5 0.25   0.125 0.25 0.125 The expense of the operator is determined by the type and sparsity of the (0) matrix. The coarse residuum r h−1 is used as the right hand side of the equation system: (0) (0) Ah−1 v h−1 = −rh−1 The equation system is solved exactly, e.g. with direct methods, to deter(0) (0) mine the coarse correction v h−1 . The correction v h−1 is transferred to the ﬁne discretized domain by a prolongation operator resulting in the correction (0) v h . Each of the following operators represented by the matrices P2×2×2 and P3×3×3 can be used to perform the transfer, which can be understood as interpolation starting from a coarse domain into a ﬁne domain. 

 11  11 

 P2×2×2 =   11  11   0.125 0.25 0.125   0.25 0.5 0.25      0.125 0.25 0.125        0.25 0.5 0.25       0.5 1 0.5 P3×3×3 =       0.25 0.5 0.25    0.125 0.25 0.125      0.25 0.5 0.25   0.125 0.25 0.125 The expense of a prolongation operator is determined by type and sparcity of (0) the transfer matrix. The correction v h is added to the start vector to obtain (1) the new approximation xh :

20

2 Mathematical and Numerical Foundation (1)

(0)

(0)

xh = xh + v h (1)

Additionally, the new approximation xh is smoothed to reduce high frequency error, e.g. with the Jacobi and Gauss-Seidel method. The scheme of the two-grid method consists of residuum calculation, restriction, exact solution, prolongation and smoothing. This scheme is repeated until some stop criterion is fulﬁlled. Multigrid Method. The crucial point concerning the eﬃciency of the two-grid method is the exact solution in the coarse domain. Substituting the step of exact solution by a recursive application leads to multigrid methods. Multigrid methods can be classiﬁed by the number of domains and by the strategy traversing through these domains [5]. Full-Multigrid Method. The full-multigrid method starts with the solution in the coarsest domain, e.g. by direct methods. The solution is transferred to the next ﬁner domain with an appropriate prolongation operator. Here, the twogrid method is applied. The scheme is iteratively applied until a solution in the ﬁnest domain is achieved. In each domain the multigrid method is applied. The solutions in the diﬀerent domains are transferred with a prolongation operator. The full-multigrid method oﬀers the advantage that the determination of an appropriate start vector is automatically performed. 2.4.4 Singular Value Decomposition The singular value decomposition is a further technique to solve systems of linear equations, which is commonly applied in cases where the upper direct and iterative methods fail. These methods fail e.g. if the matrix A is not square, if the rank of the matrix A is not maximal and if the column vectors are nearly linear dependent [8]. Any M × N matrix A with M > N can be decomposed in a columnorthonormal M × N matrix U , a diagonal N × N matrix D and the transpose of a column-orthonormal N × N matrix V [5]: A = U DV T Column-orthogonality of the matrices U and V is deﬁned as: UT U = I V TV = I with the identity matrix I. Caused by the column-orthonormality of the matrices V and U their inverses are equal to their transpose: U T = U −1 V T = V −1

2.5 Numerical Integration of Functions

The diagonal matrix D has the following form:  λ1 0 · · · · · ·   0 λ2 . . .   D =  ... . . . . . . . . .   . ..  .. . λ 0 ··· ···

N −1

0

0 .. . .. .

21



       0  λN

The diagonal elements λ1 . . . λN , the so-called singular values, are positive or zero. If the matrix A is square and the singular values are positive, the decomposition allows to determine the inverse of the matrix A: A−1 = V D−1 U T In the case of a square, symmetric matrix A, the orthogonal matrices are identical: U =V Diﬀerent numerical techniques are used to perform a singular value decomposition depending on the numbers of columns versus the numbers of rows [5, 9].

2.5 Numerical Integration of Functions 2.5.1 Deﬁnition The numerical integration of functions, the so-called quadrature, is an integral part of many numerical methods, e.g. of the ﬁnite element method to solve partial diﬀerential equations as well as of the Runge-Kutta method applied to solve ordinary diﬀerential equations [9]. The task of a numerical integration of an integrable function f in the interval [a, b] is to determine an approximate solution for the integral I: b f (x) dx I= a

An approximate solution I˜ can be calculated by the summation of weighted function values: N I˜ = wi f (xi ) (2.5) i=1

with the weighting factors wi , the integration points xi ∈ [a, b] and their number N . These parameters are variables and their choice is speciﬁc to the numerical technique for the integration of functions.

22

2 Mathematical and Numerical Foundation

The numerical techniques can be classiﬁed by the positions of the integration points as well as on the assumptions and demands on the properties of the function f . Methods are distinguished with equidistant and non-equidistant integration points. The equidistance of integration points restricts the free variables in equation 2.5 to the weighting factors wi and the number of integration points N . 2.5.2 Trapezoidal Rule The trapezoidal rule uses an equidistant decomposition of the interval I [9]. In each partial interval the integral I is approximated by the values of the function f at the interval limits: b 1 I= f (x) dx ≈ (b − a) (f (a) + f (b)) 2 a with the limits a and b as well as the length of the partial interval b − a. ˜ Summation over the whole integral delivers the approximate integral I: N −1 1 1 ˜ I=h f (x0 ) + f (xi ) + f (xN ) 2 2 i=1 with the distance between sampling points h = b−a N and the sampling points xi = a + ih. The approximation neglects components of the function f resulting from its derivatives with order greater or equal than two. The neglect can be shown by Taylor series expansion [8, 9]. The approximation can be improved by increasing the number of integration points N . 2.5.3 Simpson’s Rule An equidistant decomposition of the interval I is used in the Simpson’s rule [9]. Each partial interval is approximated with the values at the interval limits and center:

b a+b 1 ) + f (b) f (x) dx ≈ (b − a) f (a) + 4f ( 6 2 a The formula for numerical integration by Simpson’s rule with a number N of equidistant integration points xi is given by: 1 4 2 ˜ I=h f (x0 ) + f (x1 ) + f (x2 ) + . . . 6 6 6

2 4 1 + f (xN −2 ) + f (xN −1 ) + f (xN ) 6 6 6 with the distance between sampling points h. The approximation by Simpson’s Rule does not take into account components of the function f resulting from its derivatives with order greater or equal to four [8, 9].

2.6 Numerics of Ordinary Diﬀerential Equations

23

Table 2.2. Gauss quadrature. Dependent on the domain and the polynomial order the integration points and weights are determined. Domain Polynomial Points Weights Order [−1, 1] 1 0.0 2 [0, 1] 1 0.5 1 [−1, 1] 3 ±0.57735 1, 1 [0, 1] 3 0.211325, 0.788675 0.5, 0.5 [−1, 1] 5 ±0.77459, 0.0 0.5, 0.5, 0.8 [0, 1] 5 0.112705, 0.887295, 0.5 0.27, 0.27, 0.4

2.5.4 Gauss Quadrature The Gauss quadrature uses non-equidistant integrations points xi . In contrast to the former methods all parameters in equation 2.5 are variables and their values are determined by the assumption underlying the Gauss quadrature. The Gauss quadrature uses N integration points xi and N weights wi to determine exactly a polynomial q of order 2N − 1. In the interval [−1, 1] the integration points xi are uniquely deﬁned as zero points of the Legendrepolynomial PN (table 2.2): PN (x) =

1 2N N !

N dN 2 x −1 N dx

The weights wi are determined by: wi =

1

2 N x − xj dx xi − xj

−1 j=1,j=i

The Gauss quadrature is not restricted to the domain [−1, 1]. It can be extended for the calculation of integrals in arbitrary one-dimensional domains (table 2.2) as well as in multidimensional domains. E.g. an integration in triangular-, tetrahedron-, quadrilateral- and hexahedron-shaped domains can be performed.

2.6 Numerics of Ordinary Diﬀerential Equations 2.6.1 Deﬁnition An ordinary diﬀerential equation of order n is deﬁned as: dn y dy d2 y dn−1 y , 2 , . . . , n−1 ) = f (x, y, n dx dx dx dx

(2.6)

24

2 Mathematical and Numerical Foundation

with the function y depending only on one variable x, i.e. y = y(x). The order n indicates the maximal order of the derivatives of the function y. Commonly, the function f is nonlinear. A so-called initial value problem consists of solving the equation 2.6 concerning the unknown function y with initially given values b0 , . . . , bn−1 : y(x0 ) = b0 , . . . ,

dn−1 y(x0 ) = bn−1 dxn−1

The equation 2.6 can always be transformed to a system of ﬁrst order diﬀerential equations introducing the new functions y0 , . . . , yn [5, 9]: y0 ≡ y, y1 ≡

dy d2 y dn y , y 2 ≡ 2 , . . . , yn ≡ n dx dx dx

The resulting system of ﬁrst order diﬀerential equations is given by: dy0 = y1 dx dy1 = y2 dx .. . dyn−2 = yn−1 dx dyn−1 = f (x, y0 , . . . , yn−2 ) dx The initial values b0 , . . . , bn−1 are attributed to the new functions y0 , . . . , yn−1 : y0 (x0 ) = b0 , . . . , yn−1 (x0 ) = bn−1 The following overview of methods for numerical solving of ordinary diﬀerential equations is reduced to the treatment of ﬁrst order equations. This reduction is motivated both by the availability of the upper transformation and by the common occurrence of the ﬁrst order equation type. 2.6.2 Euler Method The Euler method solves the ﬁrst order diﬀerential equation: dy = f (x, y) dx with the initial value y(x0 ) = b0 by propagation through successive points, where the step-size h is constant. The solving scheme works iteratively using the known value of the function yn ≈ y(xn ) at xn to calculate the next value yn+1 ≈ y(xn+1 ) at xn+1 :

2.6 Numerics of Ordinary Diﬀerential Equations

25

y y(x) yn

y1

y0 x0

h

x1

h

x2

y4

y3

y2 h

x3

h

x4

y5 h

x5

x

Fig. 2.2. Euler method for numerical solution of ordinary diﬀerential equations. The exact solution y(x) is indicated by a dotted line. The numerical solution yn is shown as a solid line. The solution function yn is given by the values y0 , . . . , y5 which are calculated sequentially at points x0 , . . . , x5 . The distance between the points h is constant during the propagation.

yn+1 = yn + hf (xn , yn )

(2.7)

with the distance h between xn and xn+1 . The distance h is kept constant during the progress (Fig. 2.2). The properties of the Euler method can be studied using the Taylor series expansion for the function y [8, 9]: y(x + h) = y(x) + h

3 1 d2 y 1 dy 3 1 d y (x) + h2 (x) + h (x) + . . . 1! dx 2! dx2 3! dx3

(2.8)

A comparison with the upper scheme (equation 2.7) shows that the Euler method neglects terms with derivatives of order greater or equal to two. The truncation error E is given by: E = y(x + h) − yn+1 = h2

1 d2 y 1 d3 y (x) + h3 (x) + . . . 2 2 dx 6 dx3

(2.9)

The truncation error E can be quadratically reduced by bisection of the distance h. Alternatively, a reduction of this error can be achieved by introduction of higher order terms in equation 2.7. Another source of error is the inaccuracy of ﬂoating point arithmetic, e.g. by non-representability of numbers. This so-called rounding error is not limited to the application of the Euler method but inherent in the ﬂoating point arithmetic. The error can be reduced by careful selection of distance values, data type and implementation of the function f . 2.6.3 Runge-Kutta Method The Runge-Kutta method allows like the Euler method the numerical solution of the ﬁrst order ordinary diﬀerential equation:

26

2 Mathematical and Numerical Foundation y y(x) yn

yn xn

yn+1 x n+h/2

x n+1

x

Fig. 2.3. Second order Runge-Kutta method for numerical solution of ordinary differential equations. The solution function yn is determined by the values yn and yn+1 . The distance h between the points xn and xn+1 is constant during the propagation. The numerical solution yn is shown as a solid line. The exact solution y(x) is indicated by a dotted line.

dy = f (x, y) dx

(2.10)

by propagation through diﬀerent points, where the step-size h is constant. The method uses the value yn and multiple evaluations of the function f to determine the new value yn+1 at xn+1 . The number of evaluations determines the order the Runge-Kutta method. The idea behind the Runge-Kutta method is an integration of equation 2.10 in the interval [xn , xn+1 ]: xn+1 yn+1 − yn = f (x, y)dx xn

with the known value yn and the unknown value yn+1 . The right hand side of the equation is treated with numerical integration methods similar to the quadrature methods (Sect. 2.5). The integration points and the weighting values are optimized to minimize approximation errors. The properties of the Runge-Kutta method can be examined by applying the Taylor series expansion for the function y [9], in a similar way like the study of the properties of the Euler method (equation 2.8). The second order Runge-Kutta method uses a ﬁrst evaluation of the function f at the point xn , which is afterwards used at the point xn + 12 h for a second evaluation (Fig. 2.3): k1 = hf (xn , yn ) 1 1 k2 = hf (xn + h, yn + k1 ) 2 2 yn+1 = yn + k2

2.7 Numerics of Partial Diﬀerential Equations

27

Using the Taylor series expansion it can be shown that the second order Runge-Kutta method neglects terms with derivatives of order greater or equal to three. A third order Runge-Kutta method uses three evaluations of the function f at the points xn , xn + 13 h and xn + 23 h to determine the value of yn+1 : k1 = hf (xn , yn ) 1 k2 = hf (xn + h, yn + 3 2 k3 = hf (xn + h, yn + 3 1 yn+1 = yn + (k1 + 3k3 ) 4

1 k1 ) 3 2 k2 ) 3

A fourth order method, the so-called classical Runge-Kutta method, is given by: k1 = hf (xn , yn ) 1 1 k2 = hf (xn + h, yn + k1 ) 2 2 1 1 k3 = hf (xn + h, yn + k2 ) 2 2 k4 = hf (xn + h, yn + k3 ) h yn+1 = yn + (k1 + 2k2 + 2k3 + k4 ) 6 Four evaluations are necessary to proceed from the point xn to the point xn+1 . Commonly, Runge-Kutta methods with an order higher than four are not applied because of their large numerical expense. An extension of the RungeKutta method allows adaptive control over the propagation process by changing of the step-size h [5, 9]. The extension uses an estimation of the truncation error (equation 2.9) to increase or decrease the step-size. The truncation error can be estimated by comparing the results achieved by Runge-Kutta methods of diﬀerent order.

2.7 Numerics of Partial Diﬀerential Equations 2.7.1 Deﬁnition In contrast to an ordinary diﬀerential equation, where the unknown is a function y of only one variable x, i.e. y = y(x), a partial diﬀerential equation describes a function u of two or more variables x1 , x2 , . . . , e.g. in the twodimensional case u = u(x1 , x2 ). Similarly, the order n of a partial diﬀerential equation indicates the maximal order of the derivative of the function.

28

2 Mathematical and Numerical Foundation

As an example, a second order linear partial diﬀerential equation in the region Ω ⊂ R2 is given by [9]: ∂2u ∂2u ∂2u + 2B(x1 , x2 ) + C(x1 , x2 ) 2 ∂x1 ∂x1 ∂x2 ∂x22 ∂u ∂u + D(x1 , x2 ) + E(x1 , x2 ) + F (x1 , x2 ) u = G(x1 , x2 ) ∂x1 ∂x2 A(x1 , x2 )

with the functions A, B, C, D, E, F , and G. Depending on the values of these functions and assuming that A2 + B 2 + C 2 = 0 in Ω, this equation is classiﬁed into three types: • • •

AC − B 2 > 0: elliptic AC − B 2 < 0: hyperbolic AC − B 2 = 0: parabolic

The classiﬁcation inﬂuences the choice of numerical treatment of the partial diﬀerential equation. A representative of an elliptic diﬀerential equation is the so-called Poisson equation. In a two-dimensional formulation the equation is given by: ∂2u ∂ 2u + = G(x1 , x2 ) 2 ∂x1 ∂x22

(2.11)

If the right hand side of the equation is equal to zero, the Poisson equation reduces to the Laplace equation: ∂2u ∂2u + =0 2 ∂x1 ∂x22

(2.12)

The Poisson and Laplace equations are frequently applied to describe stationary and quasi-stationary physical phenomena, e.g. time independent electric, magnetic and temperature ﬁelds. For this purpose the equations are extended to represent three-dimensional ﬁelds and to incorporate material speciﬁc behavior. A prototypical hyperbolic diﬀerential equation is the wave equation: 2 ∂2u 2∂ u = v (2.13) ∂t2 ∂x2 with the constant velocity of wave propagation v. The wave equation can be used to describe instationary processes, e.g. the propagation of electromagnetic waves and acoustical resonance phenomena. Appropriate initial values must be given to ensure uniqueness. A representative of a parabolic diﬀerential equation is the diﬀusion equation: ∂2u ∂u =D 2 (2.14) ∂t ∂x with the constant diﬀusion coeﬃcient D. The diﬀusion equation models instationary phenomena, which are found for heat and mass transfer processes. The solution depends on given initial values.

2.7 Numerics of Partial Diﬀerential Equations

29

x2 ΓD

Ω

ΓN

ΓC

x1

Fig. 2.4. Exemplary two-dimensional boundary value problem. The partial diﬀerential equation is deﬁned in the region Ω with the boundary Γ . The boundary Γ is sub-divided in three partial boundaries ΓD , ΓN , and ΓC . For each of these a speciﬁc type of boundary condition is deﬁned.

2.7.2 Initial Values and Boundary Conditions The solution of partial diﬀerential equations is dependent on the deﬁnition of initial values and boundary conditions. E.g. the uniqueness of the solution of elliptical equations is ensured only if appropriate boundary conditions are attributed [4, 9]. Initial values specify the solution function u and its derivatives for the time t = 0 (Sect. 2.6). Initial values can be applied everywhere in the region Ω and at its boundary Γ . Boundary conditions specify the solution function u at the boundary Γ of the region Ω (Fig. 2.4). The boundary Γ is split up in three partial boundaries ΓD , ΓN , and ΓC : Γ = ΓD ∪ ΓN ∪ ΓC where diﬀerent types of boundary conditions are deﬁned, i.e. Dirichlet, Neumann and Cauchy conditions. A Dirichlet condition speciﬁes the values at parts of the boundary ΓD ⊂ Γ with the function φ: u(x) = φ(x) for x ∈ ΓD A Neumann condition deﬁnes the values of gradients in normal direction n of the partial boundary ΓN ⊂ Γ with the function γ: ∂u (x) = γ(x) for x ∈ ΓN ∂n The Cauchy condition is the general formulation of boundary conditions: ∂u (x) + α(x)u(x) = β(x) for x ∈ ΓC ∂n

30

2 Mathematical and Numerical Foundation

with the functions α and β deﬁned at the partial boundary ΓC ⊂ Γ . The Cauchy condition includes the Dirichlet and Neumann condition as special cases. 2.7.3 Finite Element Method Overview. The ﬁnite element method is one of the numerical methods used to solve partial diﬀerential equations. The ideas underlying the ﬁnite element method are introduced with the classical work of Ritz and Galerkin. The method can be subdivided into consecutive steps: • • • • • •

Discretization of the spatial domain Element-wise interpolation of the solution function Determination of element equations Assembling of system equations Incorporation of boundary conditions Solution of system equations

The name of the method comes from the ﬁrst step of the proceeding, where the spatial domain is discretized in ﬁnite elements. Appropriate interpolation methods of the solution function dependent on element type are assigned. The element equations characterize the element’s contribution to the equations describing the whole system. Each element’s contribution is determined as a function of variables and assembled into the system equations. These equations are modiﬁed to incorporate boundary conditions and solved to determine the unknown function. Classical Work Ritz Method. The Ritz method is a historical approach to indirectly solve partial diﬀerential equations. The method approximates the unknown function u by a linear combination of N + 1 orthogonal functions φi weighted with the factors ai : N ai φi (2.15) u = φ0 + i=1

The functions φi are deﬁned over the whole spatial domain Ω as well as they are chosen appropriately in dependence of the application and boundary conditions. E.g. the Dirichlet conditions have to be respected by the function φ0 and the other functions φi have to be zero. The approximation in equation 2.15 substitutes the unknown function u in a functional Π which is equivalent to the diﬀerential equation. The factors ai are determined in such a way that the functional is stationary: ∂Π =0 ∂ai

(2.16)

2.7 Numerics of Partial Diﬀerential Equations

31

Example. The Ritz method is applied to solve the elliptical diﬀerential equation (equation 2.11) in the domain Ω with consideration of boundary conditions: ∂ 2u ∂2u + = G(x1 , x2 ) 2 ∂x1 ∂x22 The equivalent function Π is given by:

2

2 1 ∂u 1 ∂u Π= + + G(x1 , x2 )u dx1 dx2 ∂x1 2 ∂x2 Ω 2 This equation is modiﬁed by substitution with the linear combination of weighted orthogonal functions φi (equation 2.15). The stationary condition, i.e. derivation of Π by the weighting factors ai (equation 2.16), constructs a system of equations, which can be solved either exactly or approximately delivering the weighting values ai for the determination of the unknown function u. Galerkin Method. The Galerkin method, which is also known as the method of weighted residuals [4, 10], is a further classical method to indirectly solve partial diﬀerential equations. The method is based on the Ritz approach by using the approximation of the unknown function u with a linear combination of weighted orthogonal functions (equation 2.15). An approximate solution u˜ of an arbitrary diﬀerential equation D(u) = 0 with the exact solution u is analyzed introducing the residuum R: R = D(˜ u)

(2.17)

Herewith, the Galerkin method consists of solving the system of integrals: φi R dΩ = 0 (2.18) Ω

The dimension of the system is N + 1. The residuum R is weighted with the approximation functions φi . Example. The Galerkin method is applied to solve the elliptical diﬀerential equation (equation 2.11) in consideration of boundary conditions: ∂2u ∂ 2u + = G(x1 , x2 ) ∂x12 ∂x22 which can be reformulated for simplicity as: Lu = G(x1 , x2 )

(2.19)

with the elliptical operator L given by: L≡

∂ ∂x1

∂ ∂x2

∂ ∂x1 ∂ ∂x2

32

2 Mathematical and Numerical Foundation

(a)

(b)

(c)

Fig. 2.5. Exemplary three-dimensional ﬁnite elements. The spatial domain Ω is subdivided in appropriate elements with assigned node points indicated by black spheres. Commonly, in three-dimensional domains (a) tetrahedron, (b) hexahedrons and (c) prisms are used.

The residuum R derived from equation 2.19 is deﬁned as: R = G(x1 , x2 ) − Lu

(2.20)

The equation is modiﬁed by substitution with the linear combination of weighted orthogonal approximation functions φi : n ai φi R = G(x1 , x2 ) − L φ0 + i=1

This equation is substituted in equation 2.18. The resulting equation system can be solved either exactly or approximately to give the weighting values ai . Discretization of the Spatial Domain. The spatial discretization or meshing step in the ﬁnite element method consists of subdividing the domain Ω with appropriate elements occupying the domains Ω (m) : Ω (m) Ω= m∈{1,...,N }

with N as the number of elements. The elements are non-intersecting: Ω (m) ∩ Ω (n) = 0 for m, n ∈ {1, . . . , N } and m = n. Commonly, geometrically simple elements of varying size and shape are applied (Fig. 2.5). In three-dimensional domains tetrahedrons, hexahedrons and prisms are frequently employed. In two-dimensional domains triangles and quads are used. A distinction between structured and unstructured subdivisions is made leading to meshes with homogeneously distributed, uniform elements and arbitrary elements, respectively. The node points are assigned to the elements and mostly lie at their corners. Further element types include node points inside or located at edges. Attributed to the node points are node variables, which describe the values of

2.7 Numerics of Partial Diﬀerential Equations

33

the solution function. E.g. node variables represent potentials of electric ﬁelds, spatial displacements in structure mechanics, and velocities in ﬂuid mechanics. Commonly, adjoining elements share node points and the attributed node variables. The spatial discretization is a determinant for the accuracy of a ﬁnite element analysis. The decrease of element size by increasing the element number can lead to a higher accuracy. This kind of reﬁnement of the discretization is known as the h-method. The shape of the elements has to be taken into account, e.g. elements with very large or small angles can lead to ill-conditioned equation systems. An adaptation to spatial and ﬁeld particularities is of advantage, e.g. an increase of elements in regions with large inhomogeneity of geometry and with large alteration of the solution function will improve the accuracy of the analysis. Element-Wise Interpolation of the Solution Function. The interpolation allows the determination of the solution function u at an arbitrary point x in the domain Ω. In contrast to the Ritz approach (equation 2.15), where the approximation functions φi are deﬁned over the whole domain Ω and weighted by factors ai , the interpolation functions used in the ﬁnite element methods are local. Interpolation functions are deﬁned only inside the domain Ω (m) of each m-th element and weighted by the values of the node (m) (m) variables ui assigned to node points xi . The element-wise interpolation (m) is commonly carried out by summation of shape-functions Hi : u(x) =

N

(m)

Hi

(m)

(x) ui

i=1

with the node variables number N . The choice of appropriate shape-functions is inﬂuenced by the aspired order of interpolation, the dimension of the spatial domain and the traits of the solution function. In the following section the description primarily treats the most common type of node variable. This type of node variable speciﬁes directly the value (m) of the unknown function u at the node points xi : (m)

u(xi (m)

(m)

) = ui

with the node variables ui . Node variables specifying derivatives of the unknown function u are discussed in detail e.g. in [4]. (m) The assumption leads to requirements for the shape-functions Hi deter(m) mining their values at the node points xi : (m) 1 : x = xi (m) (2.21) Hi (x) = (m) 0 : x = xj , j = i

34

2 Mathematical and Numerical Foundation (m)

A further, pragmatic requirement is, that the sum of the shape-functions Hi at an arbitrary point is given by: N

(m)

Hi

(x) = 1

(2.22)

i=1

Deﬁnition of Shape-Functions. These requirements allow a deﬁnition of shapefunctions assuming an interpolation operator P for the solution function u: u(x) = P(x, a(m) )

(2.23)

with the a-priori unknown parameter vector a(m) . Commonly, the interpolation operator P is polynomial, e.g. linear, quadratic and cubic. (m) Substituting the requirements (equation 2.21) for the node variables ui (m) at the given node points xi allows an equation system for the m-th element to be set up: (m)

ui

(m)

= P(xi

, a(m) )

The equation system is transformed in such a way, that the parameter vector (m) a(m) is determined as a function of the node variables ui . These parameter functions are substituted in the equation 2.23. The resulting equation is rear(m) ranged to separate the coeﬃcients of the node variables ui . The coeﬃcients are identical to the shape-functions. Example for Line Element. In a one-dimensional domain Ω = [0, 1] a linear interpolation at point x is given by: (m)

u(x) = a0 (m)

(m)

+ a1 x (m)

(2.24)

with the two scalar constants a0 and a1 . The scalar constants are a-priori unknown. The following equation system is set up from the requirements (m) (m) (m) (equation 2.21) for the node variables u0 and u1 at the node points x0 = (m) 0 and x1 = 1. The requirements are substituted in the interpolation function (equation 2.24): (m)

u0

(m)

u1

(m)

= a0

(m)

= a0

(m)

+ a1

which can be represented in matrix notation as:

(m) (m) u0 a0 10 = A with A = (m) (m) 11 u1 a1

2.7 Numerics of Partial Diﬀerential Equations x3

35

x8

x4 x3

x7 x5

A3 A2

x6

A4

A1

A2

x

x4

x x3

x A3 x1

A1 x2

x1

x1

x2

(a)

(b)

x2

(c)

Fig. 2.6. Natural coordinates in (a) triangle, (b) quadrilateral and (c) tetrahedron. The coordinates describe uniquely a point x inside the element by areas constructed with the node points xi and the point x.

Inversion of the matrix A delivers the equation system:

(m) (m) 1 0 u0 a0 −1 −1 A = = with A (m) (m) −1 1 u1 a1 which describes the constants as a product of the matrix A−1 and the vector of node variables u(m) . Substitution of the constants in equation 2.24 and rearrangement: (m)

u(x) = u0

(m)

+ (u1

(m)

(m)

− u0 )x (m)

= u0 (1 − x) + u1 x (m)

allows the determination of the shape-functions H0 given by: (m)

H0

(m)

and H1

, which are

(x) = 1 − x

(m) H1 (x)

=x

These shape-functions fulﬁll obviously the second requirement (equation 2.22). Natural Coordinates. Shape-functions can alternatively be derived using natural coordinates of an element [4, 10]. Natural coordinates serve to describe uniquely a point x inside of the element (Fig. 2.6). The dimension of the natural coordinate system depends on the number of node points, e.g. three natural coordinates describe a point inside a triangle, four coordinates describe a point inside of a quadrilateral and a tetrahedron, eight coordinates are attributed in a hexahedron. In two- and three-dimensional elements shape-functions are identiﬁed by the ratio of areas and volumina, respectively. In two-dimensional elements the natural coordinates are also known as area coordinates [10]. In a triangle three areas Ai are constructed with the point x and the three corner points (Fig. 2.6 a). The ratio ξi of these areas to the whole triangle area A is given by [4]:

36

2 Mathematical and Numerical Foundation

Fig. 2.7. One-dimensional shape-functions. (a) Linear, (b) quadratic, and (c,d) cubic shape-functions allow the determination of the solution function u at an arbitrary point x in a one-dimensional domain Ω starting from values of node variables ui . The shape-functions shown in (a), (b) and (c) result from node variables specifying the function u at two, three and four, respectively, node points. The shape-functions depicted in (d) accrues from nodes variables deﬁning the functions u as well as its ﬁrst derivatives at two node points.

Ai A Obviously, the ratios fulﬁll the requirements for a shape-function (equation 2.21). Concerning a unit triangle, the shape-functions Hi are identical to the area ratios ξi : Hi = ξi ξi =

Similar approaches serve to determine the shape-functions of polygons and polyhedrons. One-Dimensional Shape-Functions. The determination of shape-functions can be achieved by taking into account the requirements (equation 2.21) or by the approach of the natural coordinates. Linear shape-functions for unit line elements result from the ﬁrst order polynomial as interpolation function for the solution function u: u(x) = a0 + a1 x with the constant parameters a0 and a1 . Two node variables, one assigned to each of the two node points, specify the solution function u. The shapefunctions H0 and H1 are given by (Fig. 2.7 a):

2.7 Numerics of Partial Diﬀerential Equations

H0 (x) = 1 − x H1 (x) = x

37

(2.25)

Quadratic shape-functions for line elements use a second order polynomial: u(x) = a0 + a1 x + a2 x2 with three constant parameters ai . The solution function u is determined with one node variable at three node points. The shape-functions Hi are given by (Fig. 2.7 b): H0 (x) = (x − 1)(2x − 1) H1 (x) = −4x(x − 1) H2 (x) = x(2x − 1) A third order polynomial is applied to determine cubic shape-functions: u(x) = a0 + a1 x + a2 x2 + a3 x3 with four parameters ai . Hereby, four node variables specify the solution function u. The cubic approach leads to the shape-functions (Fig. 2.7 c): 1 H0 (x) = − (x − 1)(3x − 2)(3x − 1) 2 9 H1 (x) = (x − 1)x(3x − 2) 2 9 H2 (x) = − (x − 1)x(3x − 1) 2 1 H3 (x) = x(3x − 2)(3x − 1) 2 Alternatively, an element can be deﬁned with two node points, where at each point a node variable ﬁxes the value of the function u and a secondary node variable deﬁnes the derivative of the function u: H0 (x) = (1 − x)2 (1 + 2x) H1 (x) = x(1 − x)2 H2 (x) = x2 (3 − 2x) H3 (x) = −x2 (1 − x) The usage of this element type is recommended if the continuity of the ﬁrst derivative at the node points is required. Two-Dimensional Shape-Functions. Bilinear shape-functions for unit quadrilaterals result from the following polynomial as interpolation function for the solution function u: u(x1 , x2 ) = a0 + a1 x1 + a2 x2 + a3 x1 x2

38

2 Mathematical and Numerical Foundation

Fig. 2.8. Two-dimensional shape-functions in quadrilaterals. The bilinear shapefunctions (a) H0 , (b) H1 , (c) H2 and (d) H3 allow the interpolation of function u at an arbitrary point x in a two-dimensional domain Ω = [0, 1][0, 1]. The interpolation uses values of node variables ui located at the vertices of the quadrilaterals.

with the constant parameters ai . The shape-functions Hi are given by (Fig. 2.8): H0 (x1 , x2 ) = (1 − x1 )(1 − x2 ) H1 (x1 , x2 ) = x1 (1 − x2 )

(2.26)

H2 (x1 , x2 ) = (1 − x1 )x2 H3 (x1 , x2 ) = x1 x2 Three-Dimensional Shape-Functions. Trilinear shape-functions for unit hexahedrons result from the following polynomial as interpolation function for the solution function u: u(x1 , x2 , x3 ) = a0 + a1 x1 + a2 x2 + a3 x1 x2 + a4 x3 + a5 x1 x3 +a6 x2 x3 + a7 x1 x2 x3 with the constant parameters ai . The shape-functions Hi are given by: H0 (x1 , x2 , x3 ) = (1 − x1 )(1 − x2 )(1 − x3 ) H1 (x1 , x2 , x3 ) = x1 (1 − x2 )(1 − x3 ) H2 (x1 , x2 , x3 ) = (1 − x1 )x2 (1 − x3 ) H3 (x1 , x2 , x3 ) = x1 x2 (1 − x3 )

2.7 Numerics of Partial Diﬀerential Equations

39

H4 (x1 , x2 , x3 ) = (1 − x1 )(1 − x2 )x3 H5 (x1 , x2 , x3 ) = x1 (1 − x2 )x3 H6 (x1 , x2 , x3 ) = (1 − x1 )x2 x3 H7 (x1 , x2 , x3 ) = x1 x2 x3 Determination of Element Equations. The element equations are commonly derived for each element applying the Galerkin method to transform partial diﬀerential equations into an integral or using the stationarity condition of a functional Π analog to the Ritz approach. Because these methods require the integration over an element’s domain Ω (m) , an interpolation of the solution function u based on the variables at the node points is performed. The shape-functions serve to interpolate the solution function u. The interpolation can be expressed as vector multiplication: u = u(m) T H (m)

(2.27)

with the vector of node variables u(m) and the vector of shape-functions H (m) . The interpolation is substituted into the integrals. The integrals are transformed in such a way that a linear system of the node variables results. In the following description, element equations for exemplary elements and equations are derived. Line Elements. Diﬀerent functionals Π (m) for line elements with the domain Ω (m) are frequently occurring both as part of a complex functional and as sole contribution [4]: (m) Π1 = u dx Ω (m) (m) Π2 = u2 dx Ω (m)

(m)

Π3

=

Ω (m)

∂u ∂x

2 dx

The integrals are transformed to the unit interval Ω0 = [0, 1]: (m) Π1 = u J dη Ω0 (m) u2 J dη Π2 = (m) Π3

Ω0

= Ω0

∂u ∂η ∂η ∂x

2 J dη

with the Jacobian of the coordinate transformation J . The substitution with the approximation of the solution functions (equation 2.27) delivers:

40

2 Mathematical and Numerical Foundation (m)

Π1

(m)

Π2

(m) Π3

u(m) T H (m) J dη = u(m) T

= Ω0

(u(m) T H (m) )2 J dη = u(m) T

= Ω0

H (m) J dη

Ω0

H (m) T 2 J dη u(m)

Ω0

2 ∂(u(m) T H (m) ) ∂η = J dη ∂η ∂x Ω0 T 2 (m) ∂η ∂H = u(m) T J dη u(m) ∂η ∂x Ω0

The superscript T 2 denotes the transposition of the vector followed by squaring. A quadratic, symmetric matrix results in these cases. The derivatives of (m) are directly derived from their deﬁnition (equation the shape-functions Hi 2.25). The integrals can be expressed as linear or quadratic form of the node (m) variables ui : (m)

= u(m) T b(m)

(m)

= u(m) T M (m) u(m)

(m)

= u(m) T S (m) u(m)

Π1 Π2 Π3

with the vector b(m) , the mass element matrix M (m) and the stiﬀness matrix S (m) . Using linear shape-functions (equation 2.25) in an element of length l the element vectors and matrices are given by [4]: l 1 b(m) = 2 1

l 21 M (m) = 6 12

1 1 −1 S (m) = l −1 1 The ﬁnal step in the derivation of the element equations for a line element uses the stationarity condition analog to the Ritz approach. Therefore, the (m) are either combined or used alone. upper functionals Πi Quadrilaterals with Poisson Equation. The functional Π (m) for the m-th element is given by (Sect. 2.7.3): Π (m) =

Ω (m)

1 2

∂u ∂x1

2

2 1 ∂u + + G(x1 , x2 ) u dx1 dx2 2 ∂x2

2.7 Numerics of Partial Diﬀerential Equations

41

The integral is transformed to the unit interval Ω0 = [0, 1][0, 1]:

2 ∂u ∂η2 1 ∂u ∂η1 (m) Π = + 2 ∂η1 ∂x1 ∂η2 ∂x1 Ω0

2 1 ∂u ∂η1 ∂u ∂η2 + + + G(η1 , η2 ) u J dη1 dη2 2 ∂η1 ∂x2 ∂η2 ∂x2 with the Jacobian of the coordinate transformation J . The substitution with the approximation of the solution functions (equation 2.27) delivers the quadratic form: 1 Π (m) = u(m) T S (m) u(m) + u(m) T b(m) 2 with the matrix S (m) determined:  T 2 (m) (m) ∂η ∂η ∂H ∂H 1 2 (m)  S = + ∂η1 ∂x1 ∂η2 ∂x1 Ω0 T 2  (m) (m) ∂η1 ∂η2 ∂H ∂H  J dη1 dη2 + + ∂η1 ∂x2 ∂η2 ∂x2 and the vector b(m) given by: (m) b =

G(η1 , η2 )H (m) J dη1 dη2

Ω0 (m)

The derivatives of the shape-functions Hi are determined by their deﬁnition (equation 2.26). The matrix S (m) and the vector b(m) are commonly determined with numerical integration methods, e.g. Gauss quadrature (Sect. 2.5). For simple element geometries, e.g. quadrat and parallelogram, an analytical solution is derivable [4]. Using bilinear shape-functions (equation 2.26) in a unit element and assuming G(x1 , x2 ) ≡ 1, the element matrix S (m) and vector b(m) are given by:   4 −1 −1 −2 1  −1 4 −2 −1   S (m) =  3  −1 −2 4 −1  −2 −1 −1 4 T 1 1111 b(m) = 4 The ﬁnal step in the derivation of the element equations for a Poisson equation uses the stationarity condition of the equivalent functional Π (m) . The condition delivers the linear equation system: ∂Π (m) = S (m) u(m) + b(m) = 0 ∂u(m)

42

2 Mathematical and Numerical Foundation

Assembling of System Equations. The element matrices and vectors are assembled to generate the system equations describing the whole domain. These equations are commonly linear consisting of the so-called system matrix A and the system vector b: Au + b = 0 (2.28) in conjunction with the vector of node variables u. The values of the node variables ui describe the solution function u and are a-priori unknown. The system matrix A and system vector b result from a summation of the element matrices A(m) and element vectors b(m) , where the coeﬃcients are properly sorted: N

A=

A(m)

m=1

b=

N

b(m)

m=1

The sorting of the coeﬃcients is dependent on the sorting of the node variables. Element matrices can consist of stiﬀness and mass as well as further matrices. The properties of the system matrix depend on the properties of the element matrices. E.g. the assembling of symmetric, positive-deﬁnite element matrices leads to a symmetric, positive-deﬁnite system matrix. The system matrix A is commonly sparse, where the application of eﬃcient storing schemes is of advantage. Mostly, the system matrix A is quadratic, but its shape depends on the shape of the element matrices and the sorting of the node variables. Incorporation of Boundary Conditions. The incorporation of boundary conditions can be performed on element or system level by modiﬁcation of the corresponding equation systems. Element level modiﬁcations inﬂuence generally a group of element equations, e.g. by changing the shape-functions or replacing equations. System level incorporation can be realized by changing appropriate equations of the system equations. If the diﬀerential equation is described by a system of linear equations (equation 2.28) boundary conditions can be created by reducing the dimension of the system matrix A and system vector b as well as by replacing coeﬃcients of the system matrix A and the system vector b with appropriate values. E.g. a Dirichlet condition specifying the value of the node variable uk located at node point xk is represented by: uk = c This substitution changes the vector b to the modiﬁed system vector b by adding of the c-fold of the k-th column of the system matrix A. The k-th element of the vector b is removed. The system matrix A results from the matrix A by deleting of the k-th row and column.

2.7 Numerics of Partial Diﬀerential Equations

43

A similar approach can be chosen to represent Neumann conditions. This method changes the system’s type. The sacriﬁce of the matrix’s type and vector’s dimension obstructs a numerical treatment. Alternatively, boundary conditions can be incorporated with a method preserving the systems dimension [4]. Preservation is achieved by adding the c-fold of the k-th column of the system matrix A to the vector b. The k-th element of the resulting vector b is set to c. The k-th row and column of the system matrix A are ﬁlled with zeros. Finally, the k-th diagonal element of the resulting matrix A is set to one. Solution of System Equations. Depending on the type of diﬀerential equation diﬀerent types of equation systems can arise. Stationary problems, e.g. on basis of the Poisson equation, commonly deliver a system of linear equations (equation 2.28), which is solved with the methods described in Sect. 2.4. The symmetry, positive-deﬁniteness and sparcity of the system matrix are of advantage on behalf of the performance of solution and feasibility of numerical methods. Oscillation problems often result in eigenvalue problems, wherefore numerical methods beyond the scope of this work are enlisted. An overview of these methods is given in [4, 5, 9]. 2.7.4 Finite Diﬀerences Method The ﬁnite diﬀerences method can be applied to solve partial diﬀerential equations in a similar way like the ﬁnite element method. The method’s name is motivated by the proceeding, where diﬀerential terms are substituted by approximations primarily consisting of diﬀerences. Commonly, in the ﬁnite diﬀerences method, the partial diﬀerential equations are solved directly at the node points which are regularly distributed over the spatial domain Ω. The method can be subdivided into a sequence of steps: • • • • •

Discretization of the spatial domain Determination of node equations Assembling of system equations Incorporation of boundary conditions Solution of system equations

The ﬁnite diﬀerences method can be seen as a subclass of the ﬁnite element method, which diﬀers primarily in the ﬁrst two steps, discretization and determination of the element matrices. In particular the ﬁnal steps, incorporation of boundary conditions and solution of system equations, are equal in the ﬁnite element method and described in Sect. 2.7.3 and 2.7.3, respectively. Discretization of the Spatial Domain. The spatial domain Ω is sampled with node points xi . Commonly, rectangular, isotropic and equidistant lattices are applied, where the node points xi are located at the vertices (Fig. 2.9).

44

2 Mathematical and Numerical Foundation ∆x1 ∆x 2

∆x 3

∆x1 ∆x2

(a)

(b)

Fig. 2.9. Exemplary ﬁnite diﬀerences meshes in (a) two and (b) three dimensions. The spatial domain Ω is subdivided in a rectangular lattice, where node variables are assigned to the vertices. The distance between vertices ∆xi in direction of the edges is equal in isotropic, equidistant lattices.

The regularity of the node point distribution simpliﬁes the discretization of the partial diﬀerential equations. Adapted meshes were created for speciﬁc applications. The adaptation concerns both geometry as well as node variable assignment. Geometrical adapted meshes are in use e.g. for spherically and cylindrically shaped domains. An example for adaptation with regard to node variables is the dual mesh for electromagnetic problems of Yee [11], where node points and attributed variables of the electric and magnetic ﬁelds are shifted to each other. Determination of Node Equations. The node equations result from a node-wise discretization of the partial diﬀerential equations. The diﬀerential terms are substituted by discrete approximations. Depending on the equation type spatial and temporal derivatives of diﬀerent order have to be replaced. These approximations are simpliﬁed in equidistant, isotropic, orthogonal lattices. In irregular meshes approximations can be achieved by appropriate transformations. An approximation of the ﬁrst order spatial derivative in a one-dimensional domain Ω at the node point xi can be achieved with diﬀerent schemes. These schemes diﬀer in the locations of the node variables taken into account. The schemes are the so-called central, forward and backward diﬀerence: ∂u ui+1 − ui−1 (xi ) ≈ central ∂x 2∆x ∂u ui+1 − ui (xi ) ≈ forward ∂x ∆x

(2.29) (2.30)

2.7 Numerics of Partial Diﬀerential Equations

∂u ui − ui−1 (xi ) ≈ ∂x ∆x

backward

45

(2.31)

with the distance between node points ∆x. The node variables ui−1 , ui and ui+1 correspond to the node points xi−1 , xi and xi+1 , respectively. In unequally spaced meshes this distance diﬀers locally, i.e. a function of the location: ∆x ≡ ∆x(x). The second order spatial derivative in a one-dimensional domain Ω can be deduced by twice derivation with the upper schemes (equations 2.29-2.31). Using two-fold central diﬀerences the second order derivative at the node point xi is given by: ∂2u ui+1 − 2ui + ui−1 (xi ) ≈ ∂x2 ∆x2 The ﬁrst order temporal derivative at time step ti can be approximated similar to the upper schemes: ∂u ui+1 − ui−1 (ti ) ≈ central ∂t 2∆t ∂u ui+1 − ui (ti ) ≈ forward ∂t ∆t ∂u ui − ui−1 (ti ) ≈ backward ∂t ∆t with the distance between time steps ∆t. The backward scheme is comparable with the Euler method for solving of ordinary diﬀerential equations (Sect. 2.6.2). The second order temporal derivative can be deduced in a similar way to the upper deduction of the second order spatial derivative. The derivatives in a two-dimensional domain Ω can be derived straightforwardly from the one-dimensional derivatives. In a rectangular, equidistant mesh, the ﬁrst order derivatives at the node point xi,j are approximated by: ∂u ui+1,j − ui−1,j (xi,j ) ≈ ∂x1 2∆x1 ∂u ui,j+1 − ui,j−1 (xi,j ) ≈ ∂x2 2∆x2 with the distance between the node points ∆x1 and ∆x2 in x1 and x2 direction, respectively. The node variables ui+1,j , ui−1,j , ui,j+1 and ui,j−1 correspond to the node points xi+1,j , xi−1,j , xi,j+1 and xi,j−1, respectively (Fig. 2.10). The second order derivatives are given by: ui+1,j − 2ui,j + ui−1,j ∂2u (xi,j ) ≈ ∂x21 ∆x21 ui,j+1 − 2ui,j + ui,j−1 ∂2u (xi,j ) ≈ ∂x22 ∆x22

(2.32) (2.33)

46

2 Mathematical and Numerical Foundation

xi−1,j+1

xi,j+1

x i+1,j+1

x i−1,j

xi,j

xi+1,j

xi−1,j−1

x i,j−1

xi+1,j−1

Fig. 2.10. Exemplary numbering of node points in two-dimensional, rectangular, equidistant mesh. A subarea of a two-dimensional spatial domain Ω is shown, which is subdivided in a rectangular lattice with quad-shaped cells. The center of the subarea is node point xi,j . The mesh can be applied in conjunction with the ﬁnite diﬀerences method for discretization of Poisson’s equation. Node points are indicated by black closed circles.

∂ 2u ui+1,j+1 − ui−1,j+1 − ui+1,j−1 + ui−1,j−1 (xi,j ) ≈ ∂x1 ∂x2 4∆x1 ∆x2

(2.34)

The second order derivatives are determined by two-fold central diﬀerences. Derivatives in domains of dimension three and larger can be constructed by applying the upper strategy. The principle of the ﬁnite diﬀerences method is not restricted to spatial and temporal derivatives of the node variables, but can also be applied for derivation of material properties, e.g. electrical conductivity tensors. Two-Dimensional Poisson Equation. The Poisson equation can be approximated in an equidistant, isotropic lattice by substituting the second order derivatives (equation 2.32 and 2.33). At the point xi,j the Poisson equation is given by: ∂2u ∂2u (x ) + (xi,j ) = G(xi,j ) i,j ∂x12 ∂x22 Its ﬁnite diﬀerences approximation leads to: ui,j+1 − 2ui,j + ui,j−1 ui+1,j − 2ui,j + ui−1,j + = G(xi,j ) 2 ∆x1 ∆x22 which can be simpliﬁed taking the isotropy of the lattice into account, i.e. ∆x21 = ∆x22 , to:

2.7 Numerics of Partial Diﬀerential Equations

47

−4ui,j + ui+1,j + ui−1,j + ui,j+1 + ui,j−1 = G(xi,j ) ∆x2 with the distance between node points ∆x. In this equation all quantities are known except the node variables. The equation can be expressed using a vector product: (2.35) aTi,j ui,j = G(xi,j ) with the vector of weightings of node variables ai,j : aTi,j =

1 −4 1 1 1 1 2 ∆x

and the vector of node variables ui,j : uTi,j = ui,j ui+1,j ui−1,j ui,j+1 ui,j−1 Error Estimation. The properties of the ﬁnite diﬀerences method can be examined, similar to the study of the properties of the Euler method (equation 2.8), using the Taylor series expansion for the function u [8, 9]: u(x + ∆x) = u(x) + ∆x

3 1 ∂u 1 ∂2u 3 1 ∂ u (x) + ∆x2 (x) + ∆x (x) + . . . 1! ∂x 2! ∂x2 3! ∂x3

A comparison with the upper approximation for ﬁrst order derivatives (equations 2.29-2.31) shows that the ﬁnite diﬀerences method neglects terms with derivatives of order greater and equal to two for forward and backward diﬀerences. Hereby, the truncation error E is given by: E = u(x + ∆x) − un+1 = ∆x2

3 1 ∂2u 31 ∂ u (x) + ∆x (x) + . . . 2 ∂x2 6 ∂x3

The truncation error E can be quadratically reduced by bisection of the distance ∆x. For central diﬀerences terms with derivatives of order greater and equal to three are neglected: E = u(x + ∆x) − un+1 = ∆x3

1 ∂3u (x) + . . . 6 ∂x3

The truncation error E can be cubically reduced regarding the distance ∆x. Alternatively, a reduction of this error can be achieved by introduction of higher order terms in equations 2.29-2.31. Assembling of System Equations. The element equations are assembled to generate the system equations describing the whole domain. Similar to the ﬁnite element method, these equations are commonly linear consisting of the so-called system matrix A and the system vector b: Au + b = 0

48

2 Mathematical and Numerical Foundation

in conjunction with the vector of node variables u. The values of the node variables ui represent the solution function u of the underlying partial diﬀerential equation and are a-priori unknown. The system matrix A and system vector b result from a collection of sorted vectors ai and coeﬃcients bi corresponding to a node variable:  T   a1 b1     A =  ...  , b =  ...  aTN

bN

The sorting of the coeﬃcients is dependent on the sorting of the node variables. The properties of the system matrix depend on the properties of the element equations. The system matrix A consists commonly of diagonal blocks, which can be eﬃciently stored.

3 Theory of Electric Fields

3.1 Introduction A physically based modeling of electrophysiology at level of whole heart as well as of single muscle and nerve cells necessitates knowledge of electric ﬁelds. Changes of the electric ﬁeld permit the propagation of excitation through the heart, from excitable cell to excitable cell, and over a single cell. The electrical excitation triggers mechanical contraction in muscle cells. Moreover electrical excitation is a carrier of information over nerve cells. The theoretical foundation of electromagnetism is established by Maxwell’s equations in conjunction with material equations and continuity laws. The Maxwell’s equations integrate electric and magnetic quantities. A derivation of these equations under geometrically, physically and physiologically motivated neglects leads to Poisson’s equation. The modeling of electromagnetic properties of biological tissue plays an import role in the application of Maxwell’s and Poisson’s equations. Commonly, material properties are nonlinear and anisotropic, reﬂecting molecular and microscopic organization of cells and tissues. The representation of material properties as tensors allows an eﬃcient treatment, both from a theoretical and numerical point of view. The coeﬃcients of the tensors are dependent e.g. on the tissue type and arrangement of cells. A numerical handling of Poisson’s equation is the foundation for diﬀerent aspects of electrophysiological modeling of muscle and nerve cells. The modeling includes not only propagation, initiation and manipulation of excitation, but also the reconstruction of electric and magnetic ﬁeld distributions resulting from occurring electrical sources. The geometrical representation of the model is of importance referred to the numerical treatment of the model. Two diﬀerent strategies for a numerical treatment of electrical tasks are commonly applied, i.e. ﬁnite diﬀerences and ﬁnite element methods. Both methods are capable of handling nonlinear and anisotropic material properties. For both methods a sound mathematical framework exists to determine the solution. The determination of the underlying equations is inﬂuenced by F.B. Sachse: LNCS 2966, pp. 49–67, 2004. c Springer-Verlag Berlin Heidelberg 2004

50

3 Theory of Electric Fields

the representation of the model domain, which includes the distribution of node variables and of electrical quantities as well as geometrical properties.

3.2 Physical Laws 3.2.1 Maxwell’s Equations The Maxwell’s equations describe the connection between the electric ﬁeld E, the electric ﬂux density D, the electric current density J, the magnetic ﬁeld H, the magnetic ﬂux density B, and the electric free charge density ρ. In a diﬀerential or local formulation Maxwell’s equations are given by [12]: ∂B ∂t ∂D ∇×H = J + ∂t ∇·D = ρ ∇×E = −

∇·B = 0

(3.1) (3.2) (3.3) (3.4)

Material equations couple the electric ﬁeld with the electric ﬂux density and electric current density, as well as the magnetic ﬁeld with the magnetic ﬂux density, respectively. Thereto, the permeability in vacuum µ0 , the permittivity in vacuum 0 , and the electric conductivity σ are utilized [12]: B = µ0 (H + M ) D = 0 E + P J = σE with the magnetization M and electric polarization P . The values of the physical constants µ0 and 0 are speciﬁed in table A.2. Often, the electric polarization P and the magnetization M are linear functions of the electric ﬁeld E and the magnetic ﬁeld H, respectively. In non-ferromagnetic materials the connection between magnetic ﬁeld H and ﬂux density B can be reduced to: B = µH with the permeability µ. The connection between electric ﬁeld E and ﬂux density D can be simpliﬁed in linear, isotropic materials: D = E with the permittivity . Thereto, the permeability µ and permittivity are expressed by the product of a material speciﬁc factor µr and r , respectively, with the permeability in vacuum µ0 and the permittivity in vacuum 0 , respectively:

3.2 Physical Laws

51

µ = µ0 µr = 0 r In a more general manner, the permeability, permittivity, and electric conductivity are described by tensors. Neglect of Time Dependencies. In static electric and magnetic ﬁelds the physical quantities are constant over time. Maxwell’s equations (equations 3.1-3.4) can be simpliﬁed if time dependencies are negligible: ∇×E = 0 ∇×H = J ∇·D = ρ

(3.5)

∇·B = 0 Therewith, a scalar electric potential function φ can be introduced with the electric ﬁeld E as the negative gradient [13]: E = −∇φ

(3.6)

A similar interdependence can be constructed for the magnetic ﬁeld H under the assumption that the electric current density J vanishes. Here, the magnetic ﬁeld H can be described by the negative gradient of a scalar magnetic potential function φm [13]: H = −∇φm (3.7) 3.2.2 Poisson’s Equation for Stationary Current Fields The Poisson’s equation for stationary current ﬁelds describes phenomena resulting solely from the ﬂow of electric current in materials owning electric conductivity. Further material properties are ignored. A detailed description of the applicability of the equation in conjunction with biological materials is given in [14]. The derivation starts with the Maxwell’s equations, whereby time dependencies are neglected. The divergence of equation 3.5 delivers: ∇ · (∇ × H) = ∇ · J The left hand side reduces to zero, because the divergence of a curl operator vanishes: ∇·J =0 (3.8) In many cases and particularly in bioelectric tasks, the current density J is decomposed in two parts: the current density resulting from local sources J s and the ohmic current density J o : J = Js + Jo

(3.9)

52

3 Theory of Electric Fields

The divergence of the current density J s is given by: f = ∇ · Js

(3.10)

The quantity f is scalar and named current source density. The ohmic current density J o consists of the product of the conductivity tensor σ and the electric ﬁeld E. Combining the equations 3.6, 3.8-3.10 yields Poisson’s equation for stationary current ﬁelds: ∇ · (σ∇φ) = f (3.11) Depending on the properties of the distribution of conductivity and current source density, diﬀerent simpliﬁcations of Poisson’s equation can be applied. Assuming that the conductivity is homogeneously distributed and can be described by a zero-th order tensor, i.e. scalar, yields: σ∆φ = f with the Laplace operator ∆ ≡ ∇2 . Assuming absence of sources leads to the Laplace equation for stationary current ﬁelds: ∇ · (σ∇φ) = 0 3.2.3 Electromagnetic Properties of Biological Tissues Biological tissues show electromagnetic properties, which are dependent on the species, tissue type and arrangement of tissue constituents as well as on measurement conditions. A multitude of measurements of electric conductivity σ, permittivity , and permeability µ in macroscopic tissue probes and in cell suspensions were performed since the exploration of electromagnetic phenomena and the availability of suitable technical equipment. Collections of measurement data and of experimental descriptions are frequently published [15, 16, 17, 18, 19, 20, 21]. Electromagnetic properties of tissues are determined by its microscopic anatomy and its molecular organization. On the one hand classes of tissues show signiﬁcant consistence of their principal molecular organization, on the other hand tissues can vary widely concerning their microscopic anatomy (Sect. 6.2). Biological tissues like muscle, fat and blood consist of cells surrounded by extracellular ﬂuids. Each cell is enclosed by a membrane, which is made up of a phospholipid bilayer with pore forming proteins. These pores connect the intracellular space with the extracellular space, just as they connect in speciﬁc cases, e.g. myocardium, the intracellular space of adjoining cells. The intracellular space includes organelles, which are encapsulated by a phospholipid bilayer. This section is focused on macroscopic conductivities. Microscopic anatomical details are blurred and averaged conductivities are assigned to tissues.

3.2 Physical Laws

53

The electromagnetic properties of tissues, i.e. electric conductivity σ, permittivity , and permeability µ, can be represented in a generalized approach by symmetric tensors of second order T (Sect. 2.3):   T11 T12 T13 T =  T21 T22 T23  T31 T32 T33 whereby the coeﬃcients of the tensor Tij are dependent on tissue type and measurement conditions. The general approach of representing electromagnetic properties of tissues by the tensor T allows the representation of anisotropic properties, which are resulting from the arrangement of tissue constituents, e.g. ﬁber orientation, indicated by the averaged principal axis of cells, and lamination, indicated by the striation of cell clusters. The arrangement is reﬂected by an appropriate coordinate transformation of the tensor. The coordinate transformation takes one Cartesian system into another, whereby the origins of the Cartesian systems are equal. Commonly, the transformation consists of a sequence of rotations. The tensor T in an arbitrary coordinate system spanned by the vectors x, y, and z can be described by an orthogonal coordinate transformation of a tensor Tlocal in a local system spanned by the vectors a1 , a2 , and a3 : Tij = Aik Ajl Tlocal,kl with the constant, scalar coeﬃcients Aij of the rotation matrix A. Important simpliﬁcations of the tensor T are commonly performed in speciﬁc tasks. Usually, in bioelectric tasks an isotropy or transversal isotropy of the material properties is assumed. Thus, speciﬁc tensors and coordinate transformations of these are applied in the tasks. Anisotropy. In the anisotropic case the tensor Taniso can be represented in a local coordinate system built up by the orthonormal vectors a1 , a2 and a3 by a diagonal matrix:   Ta1 0 0 Taniso =  0 Ta2 0  0 0 Ta3 with the electromagnetic properties Ta1 , Ta2 , and Ta3 . Theses properties describe the material in direction of the vectors a1 , a2 and a3 , respectively. Transversal Isotropy. In case of transversal isotropy two scalar values, Tf iber and Ttrans , are suﬃcient to deﬁne the tensor Ttiso of material properties in a local coordinate system:   0 Tf iber 0 Ttiso =  0 Ttrans 0  0 0 Ttrans

54

3 Theory of Electric Fields z

φ

x θ

y

Fig. 3.1. Rotation in local coordinate system. In case of transversal isotropy the rotation of a tensor can be deﬁned by two angles, φ and θ. The angles describe a rotation around the z- and y-axis, respectively.

The ﬁrst property Tf iber describes the material in ﬁber orientation. The second property Ttrans describes the material perpendicular to the ﬁber orientation. In the local system the a1 -axis is aligned with ﬁber orientation. The a2 - and a3 -axis are chosen to be orthogonal to the a1 -axis. In case of transversal isotropy a matrix A, describing the coordinate transformation, can be deﬁned as product of two rotation matrices: A = Rxz Rxy The two rotation matrices Rxy and Rxz are:   cos φ sin φ 0 Rxy =  −sin φ cos φ 0  0 0 1   cos θ 0 sin θ 1 0  Rxz =  0 −sin θ 0 cos θ with the angles φ and θ deﬁning a rotation around the z- and y-axis of the global coordinate system, respectively (Fig. 3.1). An extension for fully anisotropic cases follows straightforwardly by adding a further angle describing the orientation around the x-axis. Isotropy. In the isotropic case the tensor Tiso can be represented by a diagonal matrix:   c00 Tiso =  0 c 0  00c whereby the diagonal coeﬃcients Tii are ﬁlled with a single value c describing the electromagnetic property. The tensor is independent of coordinate transforms and its order can be reduced to zero.

3.2 Physical Laws

55

Electric Conductivity. The conductivity of biological tissues can be described by a symmetric tensor σ of second order. It has the following form in a local coordinate system with axes a1 , a2 and a3 :   σa1 0 0 σlocal =  0 σa2 0  0 0 σa3 with a scalar conductivity σa1 , σa2 , and σa3 in axes direction. In the transversal isotropic case the diagonal element σa2 is equal to σa3 . The vector a1 is commonly aligned with the ﬁber orientation. Thereto perpendicular are the vectors a2 and a3 . In the isotropic case all diagonal elements are equal: σa1 = σa2 = σa3 . Here, the tensor σ can be substituted by a scalar conductivity. Presently only the cases of transversal isotropy and isotropy are reported in macroscopic measurements of tissue conductivities. Transversal isotropy is documented for some types of tissue, e.g. muscle and nervous tissue. The conductivity is found to be signiﬁcantly larger in ﬁber orientation. E.g. in σf iber are reported for low frequency measurements anisotropy factors f = σtrans skeletal muscles in the range from 2–10 [19], for extracellular conductivity of myocardium in the range of 1.4–2.6, and for intracellular conductivity of myocardium in the range of 5.6–12 [22, 23, 24]. Depending on the frequency content of electrical sources used in measurements diﬀerent spaces of composite tissue contribute to the conductivity (Fig. 3.2). E.g. if sources are located extracellularly, low frequency sources lead to current ﬂow primarily in extracellular space. An increase of frequency enhances the current ﬂow through the cell membrane and the contribution of intracellular space. Therefore, the macroscopic conductivity is enlarged. A further increase results from the contribution of intracellular structures encapsulated by a membrane. Permittivity. The permittivity of biological tissues can be described by a symmetric tensor of second order. It has the following form in a local coordinate system:   a1 0 0 local =  0 a2 0  0 0 a3 with a scalar permittivity a1 , a2 , and a3 in the diﬀerent axis directions. Presently, only the cases of transversal isotropy and isotropy are documented in macroscopic measurements of tissue permittivities. The transversal isotropy is reported for tissues, which also show an anisotropic conductivity, e.g. muscle and nervous tissue. The permittivity is signiﬁcantly smaller in ﬁber orientation, e.g. in low frequency measurements the anisotropy factor ranges from 4–10 for skeletal muscles [19]. f = trans f iber In biological materials the permittivity is found to be frequency dependent. Typically, a decrease is reported for increasing frequency (Fig. 3.3).

56

3 Theory of Electric Fields

Fig. 3.2. Conductivity of exemplary biological tissues in dependency on frequency (data from [21]). The conductivity σ of fat, skeletal and heart muscle is shown in the range from 101 to 1011 Hz.

Fig. 3.3. Permittivity of exemplary biological tissues in dependency on frequency (data from [21]). The permittivity of fat, skeletal and heart muscle is shown in the range from 101 to 1011 Hz.

3.3 Numerical Solution of Poisson’s Equation

57

Permeability. The permeability of biological tissue resembles the permeability of its principal constituent water. Water shows only weak diamagnetic properties. Commonly, the permeability in vacuum µ0 is used to describe the permeability of biological tissues.

3.3 Numerical Solution of Poisson’s Equation 3.3.1 Finite Element Method The application of the ﬁnite element method to solve Poisson’s equations for electrical current ﬁelds starts with a subdivision of the spatial domain into ﬁnite elements (Sect. 2.7.3). An interpolation of the solution function, the electrical potential φ, is performed via shape-functions, which are selected dependent on the element’s geometry and the order of interpolation. For each element a system of linear equations is derived, whereby the unknowns are the node variables, i.e. the values of the solution function at node points. The derivation of the linear system commences commonly with the setting up of an equivalent integral, which describes the power of the stationary electrical current ﬁeld. This power is deﬁned as the energy transformed by the conductivity of the medium into heat per time. The stationary condition delivers the system of linear equations. Finally, the element-wise linear equations are assembled into the system equations, boundary conditions are incorporated and the system is solved with iterative techniques (Sect. 2.4.3). Interpolation via Shape-Functions. The solution function φ is interpolated in the domain Ω (m) of the m-th element: φ = H (m) T φ(m) with the N -dimensional vector of node variables φ(m) :   (m) φ0  .   φ(m) =   ..  (m) φN and the N -dimensional vector of shape-functions H (m) :   (m) H0  .   H (m) =   ..  (m) HN Shape-functions result from the polynomial interpolation of the solution function φ in the domain Ω (m) of an element (Sect. 2.7.3).

58

3 Theory of Electric Fields

The gradient of the potential ∇φ can be deﬁned with the upper shapefunctions: ∇φ = ∇ H (m) T φ(m) = ∇H (m) T φ(m) with the gradient of the shape-function’s vector ∇H (m) :   (m) ∂H0  ∂x     ∂H0(m)     ∂y     (m)   ∂H   (m) 0   ∇H0 ∂z       . . (m)  .. ∇H =   ..  =     (m)  (m)  ∇HN  ∂HN   ∂x      ∂H (m)  N    ∂y   (m)  ∂HN ∂z The shape-functions H (m) can also serve as the interpolation of the current source density f : f = H (m) T f (m) starting from the vector of current source densities at node points f (m) . Similarly, an interpolation of the conductivity σ in the element’s domain can be performed: σ = H (m) T σ (m) with the vector of conductivity tensors σ (m) at node points. Exemplary Shape-Functions in Hexahedron. Trilinear shape-functions for unit hexahedrons Hi are given by: H0 (x, y, z) = (1 − x)(1 − y)(1 − z) H1 (x, y, z) = x(1 − y)(1 − z) H2 (x, y, z) = (1 − x)y(1 − z) H3 (x, y, z) = xy(1 − z) H4 (x, y, z) = (1 − x)(1 − y)z H5 (x, y, z) = x(1 − y)z H6 (x, y, z) = (1 − x)yz H7 (x, y, z) = xyz The gradient of the shape-function’s vector ∇H (m) is deﬁned by:

3.3 Numerical Solution of Poisson’s Equation

59

 ∂H (m)  0

∇H (m)

∂x  (m)    ∂H0   ∂y   ∂H (m)  0    ∂z(m)   ∂H1      −(1 − y)(1 − z)  ∂x(m)   ∂H1  −(1 − x)(1 − z)   ∂y    ∂H (m)   −(1 − x)(1 − y)        1  ∂z   (1 − y)(1 − z)    ∂H (m)   2     −x(1 − z)     ∂x(m)     ∂H2    ∂y    −x(1 − y)       −y(1 − z)   ∂H2(m)           (m)  ∂z(m)   (1 − x)(1 − z)  ∇H0   ∂H3     ∇H (m)   −(1 − x)y ∂x     (m)    1 y(1 − z)   ∂H3    (m)   ∇H2   ∂y   x(1 − z)    ∂H (m)    (m) 3    ∇H   −xy 3   =  ∂z(m)  =    =    ∇H (m)   ∂H4 −(1 − y)z       4  ∂x(m)    −(1 − x)z    (m)   ∇H5   ∂H4        y)   − x)(1 − ∇H6(m)   ∂H∂y(m)   (1     4 (1 − y)z (m)     ∂z ∇H7   ∂H (m)    −xz  5       ∂x(m)     ∂H5   x(1 − y)   ∂y   −yz     (m)   ∂H5   (1 − x)z        ∂z(m)   (1   ∂H6   − x)y      yz   ∂H∂x(m)    6    xz   ∂y   ∂H (m)  xy 6    ∂z(m)   ∂H7     ∂x(m)   ∂H7   ∂y  (m)

∂H7 ∂z

Equivalent Integral. The equivalent integral Π describes the electrical power in the domain Ω: 1 Π= (∇φ)T σ(∇φ) + f φ dΩ (3.12) Ω 2 with the conductivity tensor σ, the electrical source density current f , and the electrical potential φ. The integrand is subdivided in two parts: one representing the conductivity (”ohmic”) part of the electrical power and a second representing a part resulting from impressed currents. Commonly, only the equivalent integral Π (m) of the domain of a ﬁnite element is of interest. This integral Π (m) is transformed into the unit domain Ω0 using the rules of integral transformations to simplify the evaluation (Fig. 3.4).

60

3 Theory of Electric Fields

(a)

(b)

Fig. 3.4. Exemplary coordinate transformation of hexahedron from (a) original domain Ω (m) to (b) unit domain Ω0 . The coordinate transformation is characterized by its Jacobian matrix J and leads to a transformation of the integral deﬁned over the domain. Node variables are assigned at the node points indicated by black closed circles.

The transformation is determined by the underlying coordinate transformation, which is generally a spatially variant function and characterized by its ﬁrst-order partial derivatives combined in the Jacobian matrix J. With the Jacobian of the coordinate transformation J the integral Π (m) is determined by:

1 (m) T (∇0 φ) σ(∇0 φ) + f φ J dΩ0 = Π 2 Ω0 whereby the transformed gradient operator ∇0 is given ∇0 = J −1 ∇ Linear System of Equations. The equivalent integral Π (m) is transformed to a quadratic form: Π (m) =

1 (m) T (m) (m) φ S φ + φ(m) T b(m) 2

(3.13)

with the vector of electrical potentials φ(m) , the stiﬀness matrix S (m) and the vector b(m) . The stationary condition is applied to the integral [25]: ∂Π (m)

=0

∂ φi

and used to create the linear system of equations: S (m) φ(m) + b(m) = 0 In the following the derivation of integral formulations for stiﬀness matrices and vectors occurring in equation 3.13 is presented for diﬀerent spatial arrangements of the potentials, conductivities and current source densities. The evaluation of the formulations is performed by analytical or numerical techniques (Sect. 2.5), e.g. Gauss Quadrature, depending on the complexity of the integrals.

3.3 Numerical Solution of Poisson’s Equation σ φ

φ

φ

7

8

6

5

σ φ

7 7

8 8

σ φ

φ

φ

61

σ φ

6 6

5 5

σ φ

2

1

σ φ

4 4

3

φ

φ

σ φ

φ

4

σ φ

1 1

(a)

3 3

σ φ

2 2

(b)

Fig. 3.5. Exemplary ﬁnite element with interpolation of potentials. Node variables φi describing electrical potentials are assigned at the node points indicated by black closed circles. (a) A conductivity σ is assigned to the whole element. (b) The conductivity is interpolated starting from conductivities at node points σi .

Stiﬀness Matrix for Interpolation of Potential and Constant Conductivity. The derivation of a stiﬀness matrix S (m) in the domain Ωm for the integral Π (m) starts with the substitution of the function φ in the integrand of equation 3.12 with the product of the shape-functions H (m) and the node variables φ(m) (Fig. 3.5 a): 1 Π (m) = (∇0 H (m) T φ(m) )T σ(∇0 H (m) T φ(m) ) J dΩ0 Ω0 2 Here, the conductivity σ is assumed to be constant in the domain Ωm of the m-th element: σ(x, y, z) = σconst The integral is transformed in such a way that the node variables are taken out: 1 (m) T (φ ∇0 H (m) )σ(∇0 H (m) T φ(m) ) J dΩ0 Π (m) = Ω0 2

1 = φ(m) T (∇0 H (m) )σ(∇0 H (m) T ) J dΩ0 φ(m) 2 Ω0 The stiﬀness matrix S (m) is deﬁned by comparison with equation 3.13: (m) S = (∇0 H (m) )σ(∇0 H (m) T ) J dΩ0 Ω0

62

3 Theory of Electric Fields φ

φ

φ

φ

8 8

f5 φ5

6

5

f7 φ7

f φ

7

8

f φ

6 6

f φ

f φ

2

1

1 1

(a)

f3 φ3

4

3

φ

φ

f φ4

φ

4

f φ

2 2

(b)

Fig. 3.6. Exemplary ﬁnite element with interpolation of current density sources. Node variables φi describing electrical potentials are assigned at the node points indicated by black closed circles. (a) A current density source f is assigned to the whole element. (b) The current density source is interpolated starting from the conductivities at the node points fi .

Stiﬀness Matrix for Interpolation of Potential and Conductivity. In a similar manner a stiﬀness matrix S (m) can be derived for the integral Π (m) , whereby the conductivity σ is a spatial function (Fig. 3.5 b). The integral Π (m) is transformed after the substitution: 1 (m) Π (∇0 H (m) T φ(m) )T H (m) T σ (m) (∇0 H (m) T φ(m) )J dΩ0 = Ω0 2

1 (m) T (m) (m) T (m) (m) T = φ (∇0 H )H σ (∇0 H )J dΩ0 φ(m) 2 Ω0 The stiﬀness matrix S (m) results from comparison with equation 3.13: (∇0 H (m) )H (m) T σ (m) (∇0 H (m) T )J dΩ0 S (m) = Ω0

Vector for Constant Current Source Density. The inclusion of a current density source in the equations system of a ﬁnite element necessitates the transformation of the integral Π (m) . The factor φ is replaced with the product of shape-functions H (m) and node variables φ(m) : (m) = f H (m) T φ(m) J dΩ0 Π Ω0

(m) T =f H J dΩ0 φ(m) Ω0

Here, the current density source f is assumed to be constant in the domain Ωm of the m-th element (Fig. 3.6 a):

3.3 Numerical Solution of Poisson’s Equation

63

f (x, y, z) = fconst The vector b(m) is deﬁned taking equation 3.13 into account: b(m) = f H (m) T J dΩ0 Ω0

Vector for Trilinear Interpolation of Current Source Density. In a similar manner a vector b(m) can be derived for the integral Π (m) , whereby the current source density f is a spatial function (Fig. 3.6 b): (m) = H (m) T f (m) H (m) T φ(m) J dΩ0 Π Ω0

(m) T (m) (m) T =f H H J dΩ0 φ(m) Ω0

The vector b(m) is given by: (m)

b

=f

(m) T

H (m) H (m) T J dΩ0

Ω0

3.3.2 Finite Diﬀerences Method The application of the ﬁnite diﬀerences method to solve Poisson’s equation for electrical current ﬁelds starts with a discretization of the spatial domain by node points (Sect. 2.7.4). The application necessitates the symbolic evaluation of Poisson’s equation. Poisson’s equation is a partial diﬀerential equation, which combines the symmetric conductivity tensor of second order σ = [σij ], the electrical potential φ and the current source density f : ∇ · (σ∇φ) = f In general all quantities are a function of space and deﬁned everywhere in the domain Ω. The terms resulting from the symbolic evaluation are discretized using diﬀerences of the upper electrical quantities at speciﬁc locations to approximate the derivatives. The node point-wise application of the ﬁnite diﬀerences method leads to a system of linear equations, where for each point a corresponding linear equation is generated [5, 26]. The further steps of the method are the assembling of the point-wise linear equations into the system equations, the incorporation of boundary conditions and the solving of the system commonly with iterative techniques (Sect. 2.4.3). Symbolic Evaluation of Poisson’s Equation. In general, the symbolic evaluation results in a sum of terms with ﬁrst and second order spatial derivatives of the electrical potential as well as ﬁrst order spatial derivatives of the components of the conductivity tensor:

64

3 Theory of Electric Fields

∂2φ ∂2φ ∂2φ + σ + σ 22 33 ∂x2 ∂y 2 ∂z 2 2 2 ∂ φ ∂ φ ∂ 2φ + 2σ13 + 2σ23 + 2σ12 ∂x∂y ∂x∂z ∂y∂z ∂σ11 ∂φ ∂σ12 ∂φ ∂σ13 ∂φ + + + ∂x ∂x ∂y ∂x ∂z ∂x ∂σ12 ∂φ ∂σ22 ∂φ ∂σ23 ∂φ + + + ∂x ∂y ∂y ∂y ∂z ∂y ∂σ13 ∂φ ∂σ23 ∂φ ∂σ33 ∂φ + + + ∂x ∂z ∂y ∂z ∂z ∂z =f σ11

(3.14)

Assumptions about the distribution and character of the conductivity tensor allow a simpliﬁcation of the general formula. In the case of an inhomogeneous distribution of isotropic conductivity, the conductivity tensor σ can be represented by a diagonal matrix with σii ≡ σinh . Therefore, terms vanish with oﬀ-diagonal components of the conductivity tensor σ. From the general formula (equation 3.14) remains: 2

∂ φ ∂2φ ∂2φ ∂σinh ∂φ ∂σinh ∂φ ∂σinh ∂φ + + =f + 2 + 2 + σinh 2 ∂x ∂y ∂z ∂x ∂x ∂y ∂y ∂z ∂z In the case of a homogeneous distribution of isotropic conductivity the conductivity tensor σ is constant in the domain Ω and can be represented by a diagonal matrix with σii ≡ σhom . Therefore, terms vanish with ﬁrst order spatial derivatives and oﬀ-diagonal components of the conductivity tensor σ. The general formula (equation 3.14) reduces to: 2

∂ φ ∂2φ ∂2φ + 2 + 2 =f σhom ∂x2 ∂y ∂z The discretization of the diﬀerential terms in the domain Ω is given by the model representation. Commonly, the domain Ω is decomposed in rectangular lattice consisting of cubic voxels. Each voxel is homogeneous concerning its conductivity. The voxel’s centers serve as node points with associated node variables describing potentials and conductivity tensors (Fig. 3.7 a). The derivatives can be approximated by diﬀerences using the rules described in Sect. 2.7.4. Exemplary Approximations of Derivatives. In a three-dimensional, rectangular, equidistant mesh a numbering of node points is deﬁned (Fig. 3.8). Using this numbering the ﬁrst order derivatives of the potential φ at the node point xi,j,k are approximated by: ∂φ φi+1,j,k − φi−1,j,k (xi,j,k ) ≈ ∂x 2h

3.3 Numerical Solution of Poisson’s Equation h

h σ h

1,1

σ φ

1,2

1,1

σ

2,1

2,2

3,2

σ

4,1

σ

5,1

2,3

4,2

5,2

2,4

3,4

4,4

4,3

σ φ

5,3

5,2

5,3

4,5

σ φ

5,4

5,5

4,1

σ φ

5,1

5,2

5,3

4,5

φ

4,3

σ

σ

4,4

φ

4,2

σ

3,4

σ

4,3

φ

3,5

φ

3,3

σ

4,2

φ

σ

3,4

φ

3,2

σ

4,1

4,5

σ φ

3,1

2,4

σ

3,3

φ

2,5

φ

2,3

σ

3,2

φ

σ

2,4

φ

2,2

σ

3,1

3,5

4,4

5,4

2,1

1,4

σ

2,3

φ

1,5

φ

1,3

σ

2,2

φ

σ

1,4

φ

1,2

σ

2,1

σ

1,3

φ

1,1

σ φ

σ φ

σ φ

3,5

σ

1,2

φ

2,5

3,4

σ φ

1,1

σ φ

σ φ

h

1,5

2,5

σ

σ φ

σ φ

σ φ

1,5

2,4

3,3

4,3

φ

1,4

2,3

3,3

σ

σ φ

σ φ

σ φ

1,3

3,2

4,2

1,4

φ

σ φ

σ φ

σ

σ φ

σ φ

1,3

2,2

3,1

5,1

φ

σ φ

σ

4,1

σ 1,2

2,1

3,1

65

4,4

σ

5,4

σ

5,5

5,5

(a)

(b)

Fig. 3.7. Exemplary ﬁnite diﬀerences meshes for discretization of Poisson’s equation. The two-dimensional spatial domain Ω is subdivided in a rectangular lattice with quad-shaped cells of length h. A conductivity σi,j is assigned to each cell. The lattice is isotropic and equidistant. Node variables describing electrical potentials indicated by black closed circles are assigned. (a) The node variables φi,j are located at centers of cells. (b) The node variable φi,j are placed at the vertices of cells.

∂φ φi,j+1,k − φi,j−1,k (xi,j,k ) ≈ ∂y 2h ∂φ φi,j,k+1 − φi,j,k−1 (xi,j,k ) ≈ ∂z 2h with the distance between node points h in x- as well as in y-direction. The second order derivatives of the potential φ are given by: ∂2φ (xi,j,k ) ∂x2 ∂2φ (xi,j,k ) ∂y 2 ∂2φ (xi,j,k ) ∂z 2 ∂2φ (xi,j,k ) ∂x∂y ∂2φ (xi,j,k ) ∂x∂z ∂2φ (xi,j,k ) ∂y∂z

≈ ≈ ≈ ≈ ≈ ≈

φi+1,j,k − 2φi,j,k + φi−1,j,k h2 φi,j+1,k − 2φi,j,k + φi,j−1,k h2 φi,j,k+1 − 2φi,j,k + φi,j,k−1 h2 φi+1,j+1,k − φi−1,j+1,k − φi+1,j−1,k + φi−1,j−1,k 4h2 φi+1,j,k+1 − φi−1,j,k+1 − φi+1,j,k−1 + φi−1,j,k−1 4h2 φi,j+1,k+1 − φi,j+1,k−1 − φi,j−1,k+1 + φi,j−1,k−1 4h2

In the general formulation of Poisson’s equation (equation 3.14) ﬁrst order derivatives of the conductivity tensor σ occur. The necessary components at

66

3 Theory of Electric Fields x i−1,j+1,k+1 x i−1,j,k+1 x i,j−1,k+1

x i−1,j−1,k+1

x i,j+1,k+1 x i,j,k+1

x i+1,j+1,k+1 x i+1,j,k+1

x i+1,j−1,k+1 x i+1,j+1,k x i−1,j+1,k x i,j,k

x i−1,j,k x i−1,j−1,k

x i,j−1,k

x i,j+1,k x i+1,j,k

x i+1,j−1,k x i+1,j+1,k−1

x i−1,j,k−1 xi−1,j−1,k−1

x i,j−1,k−1

x i−1,j+1,k−1

x i,j+1,k−1

x i,j,k−1

x i+1,j,k−1

x i+1,j−1,k−1

Fig. 3.8. Exemplary numbering of node points in three-dimensional, rectangular, equidistant mesh. A sub-volume of a three-dimensional spatial domain Ω is shown, which is subdivided in a rectangular lattice with cubic cells. The center of the sub-volume is node point xi,j,k . The mesh is applied in conjunction with the ﬁnite diﬀerences method for discretization of Poisson’s equation. Node points are indicated by black closed circles.

the node point xi,j,k can be taken from the following approximations: ∂σ σi+1,j,k − σi−1,j,k (xi,j,k ) ≈ ∂x 2h ∂σ σi,j+1,k − σi,j−1,k (xi,j,k ) ≈ ∂y 2h ∂σ σi,j,k+1 − σi,j,k−1 (xi,j,k ) ≈ ∂z 2h An alternative to the upper technique with a voxel-centered placement of node variables is the placement at the vertices of voxels (Fig. 3.7 b). In this case the conductivity at a node point can be calculated by averaging of adjoint conductivities. An averaging in a three-dimensional, rectangular, equidistant mesh is given by: σ(xi,j,k ) =

1 8

(σi,j,k + σi+1,j,k + σi,j+1,k + σi+1,j+1,k +σi,j,k+1 + σi+1,j,k+1 + σi,j+1,k+1 + σi+1,j+1,k+1 )

Applying this operation, the approximation of derivatives of conductivities can be performed straightforward. A disadvantage of this strategy is the large periphery around a node point xi,j,k , which has to be taken into account for

3.3 Numerical Solution of Poisson’s Equation

67

the derivative approximation. A more local strategy consists of the following approximations: ∂σ σi+1,j,k − σi,j,k (xi,j,k ) ≈ ∂x h ∂σ σi,j+1,k − σi,j,k (xi,j,k ) ≈ ∂y h ∂σ σi,j,k+1 − σi,j,k (xi,j,k ) ≈ ∂z h A rearrangement of Poisson’s equation is performed after the substitution of derivatives with the approximations by diﬀerences. The rearrangement of this node point-wise created equation leads to an equation, where main parts are combined as vector product: aTi,j,k φi,j,k = f (xi,j,k ) with the vector of weightings of node variables ai,j,k for the node point xi,j,k . The components of the vector ai,j,k are a function of the conductivity distribution and the mesh properties.

4 Theory of Continuum Mechanics

4.1 Introduction Continuum mechanics is a ﬁeld of physics, which deals with deformation and ﬂow in a continuous medium under the inﬂuence of forces. The continuous medium occupies a spatial region with boundaries and an assigned volume. Boundaries and volume may be a function of time. Whereas the term deformation describes a change of the medium’s shape starting from an initial conﬁguration to a subsequent conﬁguration, the term ﬂow describes the continuing state of the medium’s motion [27]. In the context of a mathematical, mechanical modeling of biological materials, particularly of tissues found in the heart, a subregion of the theory of continuum mechanics is of speciﬁc importance, i.e. the elasticity theory. This theory allows a quantitative description of ﬁnite deformations of inhomogeneous, anisotropic cardiac tissues under the inﬂuence of external forces, e.g. at boundaries to the atrial and ventricular cavities caused by blood pressure, and of internal forces generated by contractile elements inside of myocytes. In the following sections the theory of continuum mechanics is introduced, focusing on its underlying deﬁnitions and physical laws as well as on numerical approaches to describe deformation of materials. The introduction uses tensor algebra (Sect. 2.3) and Einstein summation convention (Sect. 2.2), which allows a habile description of equations and physical quantities. The physical quantities strain and stress are illuminated in diﬀerent conﬁgurations. Diﬀerent formulations of stress equilibrium are deduced assuming a balance of forces and moments. Particularly, the principle of virtual displacements in Lagrangian formulation is introduced, which provides an eﬃcient scheme for a numerical solution. Medium dependent relationships between strain and stress, the so-called constitutive relationships, are pointed out by using elasticity theory. Linear and non-linear relationships are introduced, e.g. Hooke’s law, hyper-, hypo- and viscoelasticity. The ﬁnite element method is presented as an approach for numerical simulation of deformation. The presentation focuses on the discretization of equaF.B. Sachse: LNCS 2966, pp. 69–90, 2004. c Springer-Verlag Berlin Heidelberg 2004

70

4 Theory of Continuum Mechanics

R0

d 0x tu

P

Rt

d tx P

0x

tx

e3

e2 e1

Fig. 4.1. Deformation in ﬁnite continuous medium. The point P with coordinates 0 x in the Lagrangian conﬁguration R0 moves to the coordinates t x in the Eulerian conﬁguration Rt . The elementary segment d 0 x at point P is transformed to the segment d t x.

tions derived from the total Lagrangian formulation and hyperelastic description of materials. Eﬃcient types of ﬁnite elements are described and recipes are given for the handling of systems of equations resulting from the application of the ﬁnite element method.

4.2 Deﬁnitions and Physical Laws 4.2.1 Deformation Gradient The ﬁnite continuous medium Ω is deformed starting from the reference conﬁguration R0 at time t = 0 [28]. The following conﬁgurations Rt are deﬁned at time t. The reference conﬁguration is named Lagrangian conﬁguration, the following conﬁgurations are so-called Eulerian conﬁgurations (Fig. 4.1). The coordinates of a point P in Ω are described in the Lagrangian conﬁguration R0 by the vector 0 x. At time t the motion of point P is deﬁned by: t

x = t x( 0 x, t)

Alternatively, the coordinates of the point P in the Eulerian conﬁgurations are described by the vector t x. At time t the corresponding Lagrangian coordinates of the point P are deﬁned by:

4.2 Deﬁnitions and Physical Laws 0

71

x = 0 x( t x, t)

The displacement vector t u joining the coordinates 0 x and t x of the point P is deﬁned as: t

u = tx − 0x

The deformation gradient t0 X can be deﬁned by diﬀerentiating t x( 0 x, t) with respect to the reference conﬁguration coordinates 0 x [29] in a cartesian system:   t ∂ x1 ∂ t x1 ∂ t x1 0 0 0 t  ∂ x1 ∂ x2 ∂ x3   ∂ tx ∂ tx ∂ tx  ∂ xi t 2 2 2  = 0X =  ∂ 0 x1 ∂ 0 x2 ∂ 0 x3  0 ∂ xj   t ∂ x3 ∂ t x3 ∂ t x3 ∂ 0 x1 ∂ 0 x2 ∂ 0 x3 The deformation gradient t0 X is a tensor of second order. The tensor converts an elementary segment d 0 x of the reference conﬁguration R0 into a segment d t x in the conﬁguration Rt : d t x = t0 Xd 0 x Alternatively, the deformation gradient can be described by the displacement vector t u:   t ∂ u1 + 1 ∂ t u1 ∂ t u1 ∂ 0 x2 ∂ 0 x3  t  ∂ 0 x1 t  ∂ tu ∂ ui ∂ u ∂ t u2  t 2 2 +1  + δij =  0 0 0X = 0  ∂ 0 x3  ∂ xj   ∂ t x1 ∂ xt2 t ∂ u3 ∂ u3 ∂ u3 + 1 0 0 0 ∂ x1 ∂ x2 ∂ x3 with the Kronecker delta δ. The reverse deformation gradient 0t X can be deﬁned by diﬀerentiating 0 t x( x, t) with respect to the Eulerian conﬁguration coordinates t x in a cartesian system:   0 ∂ x1 ∂ 0 x1 ∂ 0 x1 t t t 0  ∂ x1 ∂ x2 ∂ x3   ∂ 0x ∂ 0x ∂ 0x  ∂ xi 0 2 2 2  = tX = t  ∂ t x1 ∂ t x2 ∂ t x3  ∂ xj   0 ∂ x3 ∂ 0 x3 ∂ 0 x3 ∂ t x1 ∂ t x2 ∂ t x3 The reverse deformation gradient 0t X is a tensor of second order. The tensor converts an elementary segment d t x of the Eulerian conﬁguration Rt into a segment d 0 x in the reference conﬁguration R0 : d 0 x = 0t Xd t x

72

4 Theory of Continuum Mechanics

Volume and Surface Changes. The elementary volume d 0 V in the Lagrangian conﬁguration R0 is transformed to the elementary volume d t V in the Eulerian conﬁguration Rt by: d tV = tJ d 0V (4.1) with the Jacobian t J as the determinant of the deformation gradient t0 X. Therefore, a volume change resulting from a deformation can be quantiﬁed by the Jacobian t J. The volume change can also be determined with the mass conservation principle: 0 ρ t J= t ρ with the mass density 0 ρ in the Lagrangian conﬁguration R0 and the mass density t ρ in the Eulerian conﬁguration Rt . A Jacobian t J equal to one indicates an isovolumetric deformation, which can result e.g. by the incompressibility of a medium. Values of the Jacobian t J smaller than or equal to zero are not common. The elementary surface d 0 S in the reference conﬁguration R0 is transformed to the elementary surface d t S in the current conﬁguration Rt by: t

n d t S = t J 0t X T 0 n d 0 S

with the surface normals t n and 0 n. Polar Decomposition. A deformation gradient X can be decomposed in a rotation tensor R and a right stretch tensor U : X=RU The right stretch tensor U can be represented by a symmetric, positive semideﬁnite matrix, the rotation tensor R by an orthonormal matrix. The decomposition of the deformation gradient X can be achieved with the following transformations. The square of the tensor X delivers the square of the right stretch tensor U : X T X = (R U )T (R U ) = U T U A diagonalization of U T U = V DV T delivers the orthonormal matrix V and the positive semideﬁnite, diagonal matrix D. With the transformation 1

1

1

1

U T U = V DV T = V D 2 D 2 V T = (V D 2 V T )(V D 2 V T ) the stretch tensor U can be constructed taking its symmetry into account: 1

U = V D2V T The rotation tensor R is determined by: R = X U −1

4.2 Deﬁnitions and Physical Laws

73

4.2.2 Strain Tensors Cauchy-Green Right Dilation Tensor. The Cauchy-Green right dilation tensor t 0 C describes the changes of squared lengths in the Eulerian conﬁguration. Here, the stretch t λ of an elementary segment d 0 x can be determined by: √ t λ = d t x2 = ( t0 Xd 0 x)2 = d 0 xT ( t0 X T t0 X)d 0 x = d 0 xT t0 C d 0 x with the symmetric, second order Cauchy-Green right dilation tensor t0 C deﬁned as: T t t t 0C = 0X 0X Symmetrically, the Cauchy-Green left dilation or Finger strain tensor is constructed by: T t t t 0B = 0X 0X Cauchy Strain Tensor. The Cauchy strain tensor 0t C describes the changes of squared lengths in the Lagrangian conﬁguration: d 0 x2 = ( 0t Xd t x)2 = d t xT 0t C d t x The Cauchy strain tensor 0t C is of second order with: 0 tC

= 0t X T 0t X = t0 B −1

Lagrangian Strain Tensor. The Green, Green-Lagrange or Lagrangian strain tensor can be introduced by the diﬀerence of the squared lengths of elementary segments in the Eulerian and Lagrangian conﬁguration: d t x2 − d 0 x2 = d 0 xT ( t0 C − I) d 0 x = d 0 xT 2 0t E d 0 x with the symmetric, second order Lagrangian strain tensor t0 E deﬁned as: 1 t t 0E = 0C − I 2 Euler-Almansi Strain Tensor. Similarly, the Almansi, Euler-Almansi or Eulerian strain tensor can be introduced by the diﬀerence of the squared lengths of elementary segments in the Lagrangian and Eulerian conﬁguration: d t x2 − d 0 x2 = d t xT (I − 0t C) d t x = d t xT 2 t0 e d t x with the symmetric, second order Eulerian tensor 0t e deﬁned as: 1 0 I − 0t C te = 2

74

4 Theory of Continuum Mechanics

Linear Strain Tensor. The deﬁnition of the linear strain tensor t0 assumes small displacements and displacement gradients: t

t

1 ∂ ui 1 ∂ ui ∂ t uj ∂ t uj t + 0 + t = 0 = 2 ∂ 0 xj 2 ∂ t xj ∂ xi ∂ xi Here, the product terms of the Lagrangian and Eulerian strain tensors concerning the displacement gradients are neglected. The linear strain tensor t0 is used in the classical linear elasticity theory [27]. 4.2.3 Stress Tensors Cauchy Stress Tensor. The Cauchy stress tensor t τ is deﬁned at every point in the continuous medium Ω and describes the forces per unit surface in the Eulerian conﬁguration Rt . The stress tensor allows the assignment of a stress vector t t for an arbitrary oriented surface element with unit normal vector n: t t = tτ n (4.2) If stress vectors of three mutually perpendicular surfaces are known, the tensor τ is uniquely deﬁned (Fig. 4.2). Commonly, the stress vectors, which are also known as traction vectors and surface tension vectors, are diﬀerent depending on the orientation of the corresponding surface elements, e.g.:

t

t

t

= − t t<−n>

The Cauchy stress tensor t τ is a second order tensor [3]:  t τ11 t τ12 t τ13 t τ =  t τ21 t τ22 t τ23  t τ31 t τ32 t τ33 The diagonal elements of t τ are called normal stresses. The oﬀ-diagonal elements are called shear stresses. The stress tensor is symmetric: t

τ = tτ T

First Piola-Kirchhoﬀ Stress Tensor. The ﬁrst Piola-Kirchhoﬀ stress tensor or Lagrange stress tensor t0 T is a non-symmetric second order tensor, which refers stresses to the Lagrangian conﬁguration. The stress tensor t0 T is derived from the Cauchy stress tensor t τ : t 0T

= t J 0t X t τ

with the Jacobian t J and the reverse deformation gradient 0t X. For the deduction of the tensor the mass conservation principle is assumed. The tensor is used e.g. in measurements of mechanical parameters of a specimen, whereby stresses are referred to the specimen’s initial cross section [28].

4.2 Deﬁnitions and Physical Laws

75

e3 t <e3>

t

t

τ33 t

t

tτ

t <e1>

t

τ31

13

t

τ32

t

tτ

t

τ11

tτ

τ23 22

e2

τ21

12 t <e2>

t

e1

Fig. 4.2. Stresses on faces of cube. The stress vectors t t<e1> , t t<e2> , and t t<e3> are applied to three faces of an inﬁnitesimal cube with the unit normal vectors e1 , e2 , and e3 . The corresponding components of the Cauchy stress tensor t τ are indicated on the faces.

Second Piola-Kirchhoﬀ Stress Tensor. The second Piola-Kirchhoﬀ stress tensor t0 S is a symmetric tensor of second order, which refers stresses to the Lagrangian conﬁguration. The stress tensor t0 S is deﬁned by extension of the ﬁrst Piola-Kirchhoﬀ stress tensor t0 T : t 0S

= t0 T 0t X T = t J 0t X t τ 0t X T

with the Jacobian t J, the reverse deformation gradient 0t X and the Cauchy stress tensor t τ . 4.2.4 Stress Equilibrium Equations of Motion. The balance of forces in a moving continuum in the conﬁguration Rt can be described by [27, 28] (Fig. 4.3): t B t t t t ρ ad V = f d V + t d tS tV

tV

tS

with an arbitrary volume t V enclosed by the surface t S, the mass density ρ, the acceleration t a, the volume force density t f B , and the surface stress vector t t . A substitution as described in equation 4.2, i.e. t t = t τ t n with the unit normal t n of surface t S, the symmetry of the Cauchy stress tensor t τ , and the application of the divergence theorem of Gauss leads to: t B ρ ta d tV = f d tV + div t τ d t V tV

tV

tV

76

4 Theory of Continuum Mechanics t t t

n

ta

d tS

Rt

tf B

d tV

e3

e2 e1

Fig. 4.3. Balance of forces. The equations of motion are determined assuming the balance of forces in a moving continuum in the conﬁguration Rt . Therefore, the surface stress vector t t at the diﬀerential surface element d t S with normal t n as well as the volume force density t f B , and the acceleration t a at the diﬀerential volume element d t V are taken into account.

The volume t V was assumed to be arbitrary and therefore, the integrands vanish. The resulting system of equations is known as the equations of motion: ρ t a = t f B + div t τ Principle of Virtual Displacements. Whereas the assumption for the deduction of the equations of motion is the balance of force, the principle of virtual displacements states that the equilibrium of a body is achieved if a small virtual displacement leads to an equality of the total internal virtual work and the total external virtual work [29]. The internal work results from strains and stresses in the medium. The external work is given by forces and displacements at the surface and inside of the medium. The principle of virtual displacements is also known as the principle of virtual work. In the Eulerian conﬁguration at time t the equilibrium of a body can be expressed using the principle of virtual displacements: t τij δ t eij d t V = t R (4.3) tV

with the volume t V , the components of the Cauchy stress tensor t τij , the variation of the strain tensor δt eij , and the external virtual work t R. The variation of the strain tensor is deﬁned as

1 ∂δui ∂δuj δ t eij = + 2 ∂ t xj ∂ t xi

4.2 Deﬁnitions and Physical Laws

77

with the components of the virtual displacement vector δui . The external virtual work R is subdivided in applied force densities t fiB and surface tensions t S fi : t

R= tV

t B fi

δ ui d t V +

tS

t S fi

δ uSi d t Sf

f

with the surface t Sf and the components of the virtual displacement vector at the surface δuSi . Total Lagrangian Incremental Formulation. The total Lagrangian incremental formulation uses the principle of virtual displacements in conjunction with the second Piola-Kirchhoﬀ stress tensor t+∆t 0 S and the GreenLagrange strain tensor t+∆t E. Equivalent to equation 4.3, the equilibrium 0 at time t + ∆t can be deﬁned by [29]: t+∆t t+∆t 0 t+∆t R 0 Eij d V = 0 Sij δ 0V

with the external virtual work t+∆t R. The integration is performed over the volume 0 V at time t = 0, to which all quantities are referred. The external virB tual work t+∆t R is decomposed in applied force densities t+∆t 0 fi and surface t+∆t S tensions 0 fi : t+∆t S t+∆t B t+∆t 0 S 0 R= f δ u d V + i 0 f i δ u i d Sf 0 i 0V

0S

f

with the surface 0 Sf . Each coeﬃcient of the stress tensor t+∆t 0 S is decomposed in a coeﬃcient of the stress tensor t0 S and of the incremental stress tensor 0 S: t+∆t 0 Sij

= t0 Sij +

0 Sij

Similarly, each coeﬃcient of the strain tensor t+∆t 0 E is decomposed in a coeﬃcient of the strain tensor t0 E and of the incremental strain tensor 0 E: t+∆t 0 Eij

= t0 Eij +

0 Eij

(4.4)

Furthermore, each coeﬃcient of the incremental strain tensor 0 E is decomposed in a linear component 0 eij and a nonlinear component 0 ηij : 0 Eij

= 0 eij + 0 ηij

(4.5)

These components are deﬁned corresponding to the Green-Lagrange strain tensor: 0 eij 0 ηij

1 ( 0 ui,j + 0 uj,i + 2 1 = ( 0 uk,i 0 uk,j ) 2 =

t 0 uk,i 0 uk,j

+

t 0 uk,i 0 uk,j )

78

4 Theory of Continuum Mechanics

whereby the subindex of the coeﬃcients of the incremental displacement vector 0 u and displacement vector t0 u following the comma denotes the diﬀerentiation with respect to the reference conﬁguration coordinates 0 x. Using the decompositions a nonlinear equation of motion with incremental decompositions is derived: 0 0 t+∆t 0 t t R− 0 Sij δ 0 Eij d V + 0 Sij δ 0 ηij d V = 0 Sij δ 0 eij d V 0V

0V

0V

whereby the right hand side of the equation includes only components with known values at time t. The unknown parameters are found on the left hand side of the equation. The linearized equation of motion is obtained by using the approximations 0 Cijkl 0 ers = 0 Sij and δ 0 eij = δ 0 Eij : t t 0 0 t+∆t 0 C e δ e d V + S δ η d V = R− 0 ijkl 0 rs 0 ij 0 ij 0 ij 0 Sij δ 0 eij d V 0V

0V

0V

whereby the incremental stress-strain tensor 0 C is dependent on the stressstrain relationship of the material: 0 Cijkl =

∂ t0 Sij ∂ t0 rs

4.2.5 Constitutive Relationships Elasticity and Viscoelasticity. The theory of elasticity assumes that the relationship between stress and strain in a material is local and history independent [28]. Depending on the relationship a distinction between • •

linear elastic nonlinear elastic

materials is made. Import representatives of nonlinear elastic materials are: • •

hyperelastic hypoelastic

If strains are small nearly all materials can be suﬃciently described with linear and nonlinear elasticity. Large deformations in rubber-like and concrete materials are commonly analyzed assuming hyper- and hypoelasticity. An extension of the theory of elasticity results from the observation that materials can also show history dependent behavior [30]. Materials exhibiting this behavior are said to be viscoelastic.

4.2 Deﬁnitions and Physical Laws

79

d− ∆ d d

l+ ∆ l

l

Fig. 4.4. Hooke’s law. A bar with initial length l is strained to the length l + ∆l resulting from applied stresses. The initial bar’s diameter d changes to the diameter d − ∆d. The relationship between stress and strain is described by Hooke’s law.

Linear Elasticity Hooke’s Law and Material Constants. According to Hooke’s law the linear relationship between a strain and a stress τ in a bar is deﬁned by [31]: τ=

1 E

with the elasticity modulus or Young’s modulus E. The strain is a onedimensional equivalent to the second order linear tensor t0 and describes the ratio between the change of the bar’s length ∆l and the initial length l (Fig. 4.4): ∆l = l The stress τ is a one-dimensional equivalent to the Cauchy stress tensor t τ and describes the force F per surface A: τ=

F A

The change of the bar’s diameter ∆d resulting from the strain is quantiﬁed with Poisson’s ratio ν by: −∆d l ν= d ∆l with the bar’s length l and the bar’s diameter d (Fig. 4.4). The bulk modulus κ describes the volume change resulting from a pressure p: ∆V 1 =− p V κ

80

4 Theory of Continuum Mechanics

Fig. 4.5. Bulk modulus. The left cube is deformed by pressure indicated by dashed arrows. The volume change resulting from the deformation depends on the bulk modulus κ.

α

Fig. 4.6. Shear modulus. The left cube is deformed by forces indicated by the dashed arrows. The angle α resulting from the deformation depends on the shear modulus G.

The bulk modulus can be determined with the elasticity modulus E and the Poisson’s ratio ν under the assumption that the pressure p acts in diﬀerent directions in the same manner (Fig. 4.5), i.e. leading to same volume reduction: κ=

1 E 3 1 − 2ν

The shear modulus G couples the shear tension τ with the angle α of a plane perpendicular to the applied forces (Fig. 4.6): τ = Gα The shear modulus G is determined with the elasticity modulus E and the Poisson’s ratio ν as follows: G=

E 2(1 + ν)

Hooke’s Law in three-dimensional space. A generalization of Hooke’s law delivers the relationship between the Cauchy stress tensor t τ and the linear strain tensor t0 : t

τij = Cijkl t0 kl

(4.6)

4.2 Deﬁnitions and Physical Laws

81

with the fourth order elasticity tensor C. The elasticity tensor is also known as material tensor and comprises 81 coeﬃcients. Regarding of symmetries allows the reduction of the number of independent coeﬃcients of the elastic tensor to 36. The equation 4.6 can be rewritten in a simpliﬁed representation: t

τ i = Cij t0 j

with the Cauchy stress vector t τ , the linear strain vector t0 and the elasticity matrix C. The Cauchy stress vector t τ is derived from the Cauchy stress tensor t τ by: t τ = t τ11 t τ22 t τ33 t τ12 t τ13 t τ23 The linear strain vector t0 is transformed from the linear strain tensor t0 by: t = t 11 t 22 t 33 2 t 12 2 t 13 2 t 23 In case of isotropic media the elasticity matrix C is symmetric and of following shape:   1−ν ν ν 0 0 0  ν 1−ν ν  0 0 0     E ν 1−ν 0 0 0  ν  C= 1   0 0 2 (1 − 2ν) 0 0 (ν + 1)(1 − 2ν)  0  1  0  0 0 0 0 2 (1 − 2ν) 1 0 0 0 0 0 2 (1 − 2ν) depending on the elasticity modulus E and the Poisson’s ratio ν. Alternatively, the elasticity matrix C can be expressed with Lam´e constants λ and µ:   λ + 2µ λ λ 0 0 0  λ λ + 2µ λ 0 0 0    λ λ λ + 2µ 0 0 0    C= 0 0 µ 0 0  0   0 0 0 0 µ 0 0 0 0 0 0µ The Lam´e constants can be derived from the elasticity modulus E and the Poisson’s ratio ν: νE (1 + ν)(1 − 2ν) E µ= 2(1 + ν) λ=

82

4 Theory of Continuum Mechanics

Generalized Hooke’s Law for Large Deformations. A further generalization of Hooke’s law is used to describe the stress-strain relationship of large deformations. The second Piola-Kirchhoﬀ stress tensor t0 S is calculated with the material tensor C and the Green-Lagrange strain tensor t0 E: t 0 Sij

= Cijkl t0 Ekl

Alternatively, the stress-strain relationship for large deformations can be established with the deformation gradient t0 X and the Cauchy-Green right dilation tensor t0 C. Nonlinear Elasticity. Whereas the material tensor C is constant in linear elasticity, the tensor is a function of strain in nonlinear elasticity: C = C( t0 ) The applied strain tensor depends on the type of deformation. E.g. for small displacements and displacement gradients commonly the linear strain tensor t t 0 is used. For large deformations the Cauchy-Green right dilation tensor 0 C t and the Green-Lagrange strain tensor 0 E is applied. Hyperelasticity. If the second Piola-Kirchhoﬀ stress tensor t0 S in a medium can be determined by derivation from a scalar strain energy density function t 0 W , the medium is said to be hyperelastic [29]: ∂ t0 W t0 E t 0 Sij = ∂ t0 Eij In this deﬁnition the strain energy density W is a function of the GreenLagrange strain tensor t0 E. Other descriptions of strain, e.g. the Cauchy-Green right dilation tensor t0 C, are also used as parameters for strain energy density functions. Mooney-Rivlin Model. A representative of hyperelastic models is the MooneyRivlin model, whereby the strain energy density function is deﬁned by: t 0W

= C1 ( t0 I1 − 3) + C2 ( t0 I2 − 3)

with the material speciﬁc constants C1 and C2, as well as the invariants of the Cauchy-Green right dilation tensor t0 I1 and t0 I2 . Furthermore, incompressibility of the medium is assumed by including the condition t0 I3 = 1 (Sect. 4.2.1). A variant of the Mooney-Rivlin model reduces the condition of total incompressibility and includes the reduced condition into the deﬁnition of the strain energy function [29]: t 0W

1 = C1 ( t0 I 1 − 3) + C2 ( t0 I 2 − 3) + κ( t0 I 3 − 1)2 2

with the bulk modulus κ and the reduced invariants:

4.3 Numerical Solution t 0I 1 t 0I 2 t 0I 3

83

= t0 I1 ( t0 I 3 )−1/3 = t0 I2 ( t0 I 3 )−2/3 = ( t0 I 3 )1/2

The Mooney-Rivlin model was developed to reconstruct the mechanical behavior of rubber-like materials. Further representatives of hyperelastic models speciﬁcally for the description of cardiac tissue are listed in Sect. 8.2.2. Hypoelasticity. If the stress increments dτ are determined by the strain increments d t0 , the medium is said to be hypoelastic [29]: dτij = Cijkl d t0 kl Commonly, the material tensor C is nonlinearly dependent on the strain, stress or other parameters. Hypoelastic material models are used to reproduce the mechanical behavior of concrete and metals. Viscoelasticity. If the description of the stress-strain relationship includes derivatives with respect to time, a medium is said to be viscoelastic. Linear viscoelasticity results in the following stress-strain relationship:

∂ ∂ ∂ ∂ A0 + A1 + A2 + . . . t τ = B 0 + B 1 + B 2 + . . . t0 ∂t ∂t ∂t ∂t with the parameter matrices Ai and B i . Viscoelastic behavior leads to phenomena like [30]: • • •

Stress relaxation. A body is suddenly strained and afterwards the strain is sustained. The resulting stress decreases over time. Creep. A body is suddenly stressed and afterwards the stress sustained. The resulting deformation is a time dependent process. Hysteresis. Cyclic stress of a body leads to diﬀerences in the stress-strain relationship for loading and unloading phases.

4.3 Numerical Solution 4.3.1 Principle The ﬁnite element method is the primary numerical technique to discretize equations resulting from the principle of virtual displacements. The principle allows the analysis of large displacements, strains and rotations with nonlinear, anisotropic material properties. The ﬁnite element method necessitates a subdivision of the spatial domain Ω in ﬁnite elements (Sect. 2.7.3). In each element’s domain Ω (m) the solution as well as stress and strain functions are interpolated starting from node

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4 Theory of Continuum Mechanics t

0u 8 t

x8

t

t+ ∆ t

x5

0

0

x8

x8

0u 5

t

0u 6

t+∆ t

0u 7

x6 t+ ∆ t

x6

t+ ∆ t

x5

0

x5

t

0u 4 t

0u1

0

x6

x4 0

x4

0

x3

x4

t

x2

0

x1

0

x2

x2

t

0u 2 t+∆ t

t+∆ t

x1

x7

t+∆ t

x1

x7

x7

x3

0u 3 t+ ∆ t

x3

Fig. 4.7. Deformation and incremental displacements in hexahedron. The coordinates of node points 0 xi in the Lagrangian conﬁguration are changed to the coordinates t xi at time t. The incremental displacement 0 ui leads to the coordinates t+∆t xi at time t + ∆t.

points. For each element an equations system can be created, wherefore in this work primarily the total Lagrangian formulation (Sect. 4.2.4) in conjunction with hyperelastic description of materials (Sect. 4.2.5) is applied. The creation of the equations system is performed applying the displacement function t u at time t. The solution function t+∆t u describes displacements at time t+∆t. The evaluation of integral equations delivers element- and time-step-wise systems of linear equations. These equations are assembled into the system equations, which are modiﬁed by boundary conditions. The system of equations is solved with iterative techniques (Sect. 2.4.3). The solving is repeatedly performed, both, to determine displacements at diﬀerent times, e.g. with distance ∆t, and to cope the nonlinearity of material and geometry. 4.3.2 Interpolation via Shape-Functions Interpolation of Displacement Functions. An interpolation of the displacement function t u starting from node variables can be performed via shapefunctions, which are selected dependent on the element’s geometry and the order of interpolation. In the following – similar to the sections introducing the ﬁnite element method (Sect. 2.7.3) and its application in electromagnetism (Sect. 3.3.1) – the shape-functions are arranged to the vector H (m) , whereby the superscript m indicates the element. In other works, displacement- and strain-interpolation matrices are alternatively created for the interpolation [29]. The shape-functions are components of a matrix.

4.3 Numerical Solution

85

In the three-dimensional domain Ω (m) of the m-th element the displacement function t u is given at any time t by: t  u1 t u = t u2  = H (m) T t U (m) t u3 with the N -dimensional vector of displacement vectors at node variables t (m) U :  (m)  U1,1  (m)  U1,2      (m) (m)   U1,3  U1    .    t (m) . = . . U =  .   .   (m)  (m)  UN  UN 1   (m)  UN 2  (m)

UN 3

and the N -dimensional vector of shape-functions H (m) :   (m) H1  .   H (m) =   ..  (m) HN The function of incremental displacements 0 u is interpolated by: 0u

= H (m) T 0 U (m)

with the vector of incremental displacements at node variables 0 U (m) . The shape-functions allow furthermore the interpolation of coordinates of points t x and temporal derivatives of displacements, e.g. velocity and acceleration. Additionally force densities and surface tensions can be interpolated. Interpolation of Deformation Gradient. Similarly, an interpolation is applied for the deformation gradient and variant strain tensors starting from node variables. Therefore, speciﬁc derivatives of the shape-functions are developed. The deformation gradient t0 X (Sect. 4.2.1) is interpolated in the domain Ω (m) by: (m) T t (m) t U +I 0 X = ∇H with the identity matrix I and the gradient of the shape-function’s vector ∇H (m) :

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4 Theory of Continuum Mechanics



∇H (m)

 (m)  ∂H1  ∂ 0 x1       ∂H (m)   1    ∂ 0 x2     (m) ∂H1       (m)   ∂ 0x ∇H1 3    .    . = . . =  .   .   (m)  ∂H (m)  ∇HN   N  0   ∂ x1  (m)    ∂HN    0   ∂ x2   (m)  ∂HN ∂ 0 x3

Interpolation of Green-Lagrange Strain Tensor. The Green-Lagrange strain tensor t0 E is determined with the deﬁnition of the deformation gradient (m) t : 0X t 0E

1 t 2 0X − I 2

2 1 ∇H (m) T t U (m) + I − I = 2

2 T 1 = ∇H (m) T t U (m) + ∇H (m) T t U (m) + ∇H (m) T t U (m) 2 =

The decomposition of Green-Lagrange strain tensor t+∆t 0 E at time t + ∆t into the Green-Lagrange strain tensor t0 E at time t as well as a linear part 0 e and a nonlinear part 0 η of the incremental Green-Lagrange strain tensor 0 E (equations 4.4 and 4.5): t+∆t 0E

= t0 E +

0E

= t0 E + 0 e + 0 η

(4.7)

can be expressed via shape-functions by: t+∆t 0E

1 t+∆t 2 0X −I 2

2 1 ∇H (m) T t U (m) + 0 U (m) + I − I = 2 2 T 1 = ∇H (m) T t U (m) + ∇H (m) T t U (m) + ∇H (m) T t U (m) 2 T T ∇H (m) T 0 U (m) + ∇H (m) T 0 U (m) + ∇H (m) T t U (m) T ∇H (m) T t U (m) + ∇H (m) T 0 U (m) + ∇H (m) T 0 U (m) =

4.3 Numerical Solution

+ ∇H (m) T 0 U (m)

87

2

Comparison with equation 4.7 leads to the deﬁnition of the linear part 0 e: T T 1 ∇H (m) T 0 U (m) + ∇H (m) T 0 U (m) ∇H (m) T t U (m) 0e = 2

T ∇H (m) T t U (m) + ∇H (m) T 0 U (m) + ∇H (m) T 0 U (m) (4.8) and the nonlinear part 0 η of the incremental Green-Lagrange strain tensor

0 E:

0η

=

2 1 ∇H (m) T 0 U (m) 2

(4.9)

Interpolation of Stress Tensors. Stress tensors can be interpolated with the vector of shape-functions H (m) starting from stress tensors at node variables. In other cases stress tensors are described by a function of strain and can therefore be determined after interpolation of the strain. 4.3.3 Determination of Element Equations The section focuses on the discretization of the total Lagrangian incremental formulation with hyperelastic materials (Sect. 4.2.5). Hence, the equilibrium at any time is given by [29]: t 0 0 (4.10) 0 Cijkl 0 ers δ 0 eij d V + 0 Sij δ 0 ηij d V 0V 0V t+∆t S t+∆t B t 0 S 0 0 = 0 Sij δ 0 eij d V 0 f i δ u i d Sf − 0 fi δ u i d V + 0V

0S

f

0V

with the incremental stress-strain tensor 0 C, a linear part 0 e and a nonlinear part 0 η of the incremental Green-Lagrange strain tensor 0 E, the second PiolaB Kirchhoﬀ stress tensor t0 S, the applied force density t+∆t 0 fi and the surface t+∆t S tension 0 fi . The incremental stress-strain tensor 0 C is of fourth order. The strain and stress tensors are of second order. System of Equations for Static Analysis. The equation 4.10 can be used to describe the displacements t+∆t U at time t + ∆t with given displacements t U for time t. Therefore, an iterative procedure is applied (Fig. 4.8), which is necessary to incorporate nonlinear phenomena. The phenomena result from material properties, which can vary with strain or stress. In each step a system of linear equations is constructed and solved whereby the unknowns describe incremental displacements 0 U (i) . The system of linear equations is created by the substitution of the strain tensors with the

88

4 Theory of Continuum Mechanics

Initialization Reset incremental displacements Interpolate strain tensor

Determine tension and material tensors

Determine stiffness matrices and vectors

Determine incremental displacements

No

Stop criterion fulfilled?

Increment time and Yes

update displacements

Store displacements

Fig. 4.8. Calculation scheme of total Lagrangian incremental formulation. Incremental displacements are determined starting from initial displacements. The incremental displacements are determined iteratively and serve ﬁnally to update the initial displacements. In each step the incremental displacements are the unknowns of a system of linear equations, which is built up by diﬀerent stiﬀness matrices and vectors. The matrices and vectors are a function of strain, stress and material tensors.

interpolation starting from node points and the knowledge of the incremental stress-strain tensor 0 C: (i)

(i)

( t0 K L + t0 K N L ) 0 U (i) =

t+∆t 0R

+ t0 F (i)

(4.11)

with the vector of forces at node points t0 F (i) , the unknown incremental displacements 0 U (i) and the external virtual work t+∆t 0 R as well as the linear (i) incremental stiﬀness matrix t0 K L and the nonlinear incremental stiﬀness ma(i) trix t0 K N L . The superscript (i) of same quantities denotes the iteration step. The iteration can be stopped, if some norm of the residuum of equation 4.11 becomes smaller than a given threshold. Determination of Matrices and Vectors. The determination of the matrices and vectors resulting from the total Lagrangian incremental formulation is generally performed with numerical techniques (Sect. 2.5). A frequently used technique is the Gauss quadrature.

4.3 Numerical Solution

89

(i)

The linear incremental stiﬀness matrix t0 K L is given by: (i) T (i) t t t 0 K = 0BL d V 0 BL 0C 0 L 0V

whereby the diﬀerential operator t0 B L is determined with equation 4.8. The incremental stress-strain tensor 0 C (i) is assumed to be a function of the strain and stress, but can also result from a description of the material properties with generalized Hooke’s law for large deformations. The incremental stressstrain tensor 0 C (i) can be derived from the second Piola-Kirchhoﬀ stress tensor t0 S (i) : (i) ∂ t0 Sij (i) 0 Cijkl = ∂ t0 Ekl whereby the superscript of the tensor 0 C (i) denotes the i-th step of the incremental procedure and the subscript refers to indices of the tensor. In case of hyperelastic materials the tensor 0 C can be determined directly from the strain energy density W : (i) 0 Cijkl

=

∂2 W ∂ t0 Eij ∂ t0 Ekl

The linear operator t0 B L allows the determination of the linear part 0 e of the incremental Green-Lagrange strain tensor 0 E starting from the vector of incremental displacements at node variables 0 U (m) : 0e

= t0 B L 0 U (m)

The nonlinear incremental stiﬀness matrix t0 K N L results from: T t (i) t t t 0 K = NL 0BN L d V 0BN L 0S 0 0V

whereby the diﬀerential operator t0 B N L is determined with equation 4.9. This nonlinear operator describes the relationship: 2 (m) t 0η = 0BN L 0U The vector of external virtual work t+∆t R at time t + ∆t is constructed B starting from the vector of applied force densities t+∆t 0 f i and of surface tent+∆t S sions 0 f i at node points: S t+∆t T t+∆t B 0 0 H H TS t+∆t 0R= 0 fi d V + 0 f i d Sf 0V

0S

f

with the volume shape-function H and the surface shape-function H S as well as the surface 0 Sf . The vector of forces at node points t0 F (i) is obtained by evaluating: T t (i) 0 t t (i) F = d V 0BL 0S 0 0V

90

4 Theory of Continuum Mechanics

System of Equations for Dynamic Analysis. The inclusion of inertia can be achieved by extending of equation 4.11: (i)

(i)

M t a + ( t0 K L + t0 K N L ) 0 U =

t+∆t 0R

+ t0 F (i)

with the vector of acceleration t a and the mass matrix M given by: 0 M= ρ H T H d 0V 0V

Here, the mass density 0 ρ and mass matrix M are assumed to be constant over time.

5 Digital Image Processing

5.1 Overview Digital image processing is applied to extract and measure features and structures in images. Diﬀerent stages of processing can be distinguished (Fig. 5.1). The image data is transformed in each processing step. The ﬁrst steps, imaging, sampling and quantization, lead to digital images [32]. The imaging is commonly performed with physical devices transforming a band of the electromagnetic spectrum into an imaging function, which is then digitized spatially and concerning its amplitude. The spatial digitization is frequently called sampling. The digitization of the amplitude is referred to as quantization. Subsequently, the digital images are commonly preprocessed to enhance the image quality for further processing. The images are segmented, which means subdivided into enclosed components. These components are assigned to classes by the classiﬁcation step. All of these stages require the extraction of features in the images. The results of the digital image processing are interpreted, whereby a meaning is attributed to image components. Diﬀerent levels of processing can be associated with the digital image processing. Low-level processing involves automatic methods, which can be applied without knowledge concerning the image content. Imaging, sampling, quantization and preprocessing are low-level processing steps. Intermediatelevel processing, i.e. segmentation and feature extraction, requires some background knowledge of the image content. High-level processing like classiﬁcation and interpretation is strongly dependent on the availability of detailed knowledge. In the context of modeling cardiac anatomy, physiology and mechanics digital image processing is frequently applied in conjunction with medical imaging systems, e.g. ultrasonic (US), magnetic resonance (MRT), and X-ray computed tomography (CT). Furthermore, photographic imaging systems are utilized. A photographic system is applied e.g. in the Visible Human Project of

F.B. Sachse: LNCS 2966, pp. 91–118, 2004. c Springer-Verlag Berlin Heidelberg 2004

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5 Digital Image Processing Imaging

Sampling and Quantization

Low−level processing

Preprocessing Feature− extraction Segmentation

Intermediate− level processing

Classification High−level processing Interpretation

Fig. 5.1. Structure of digital image processing. Starting with imaging, sampling and quantization the image data passes through the preprocessing, segmentation and classiﬁcation steps. The feature extraction is their common element. The data is ﬁnally interpreted e.g. by a human observer. Results of all steps can be applied for succeeding processing steps.

the National Library of Medicine, Bethesda, Maryland (USA) [33], which provides a large source of images from inside of human body (Sect. 6.4.5). Generally, imaging data can have diﬀerent dimensions, e.g. two-dimensional photos, three-dimensional X-ray computed tomographies and four-dimensional MR tomographies. In the following sections a survey of numerous pragmatic image processing methods is given. A representation of images suitable for computerized analysis is described. The topics preprocessing and segmentation are introduced. The topics representation, detection and interpolation of orientation in images are presented. These are of importance for modeling ﬁbered structures, e.g. skeletal and heart muscle.

5.2 Digital Representation of Images Commonly, digitized images are described as a k-dimensional array of N1 × · · · × Nk discrete elements v(i1 , . . . , ik ) with ij ∈ {1, . . . , Nj } for all j ∈ {1, . . . , k}. Here, the elements represent isotropic equidistant samples of the original image obtained by an imaging device. In two-dimensions the elements of an image are called pixels, in three dimensions voxels.

5.3 Preprocessing

93

The elements contain values representing physical quantities, e.g. grey levels in photos, proton densities in MR, and attenuation coeﬃcients in CT tomographies. The value range of the elements is limited. Typical ranges are 0–255 and 0–65535, which can be eﬃciently stored in 1 byte and 2 bytes, respectively. Example. A two-dimensional image I with isotropic equidistant elements can be represented by the N1 × N2 array:   v(1, 1) v(1, 2) ... ... v(1, N1 − 1) v(1, N1 )  v(2, 1) v(2, 2) ... ... v(2, N1 − 1) v(2, N1 )     . . . . . . . . . . . . . . . ... I =    v(N2 − 1, 1) v(N2 − 1, 2) . . . . . . v(N2 − 1, N1 − 1) v(N2 − 1, N1 )  v((N2 , 1) v(N2 , 2) . . . . . . v(N2 , N1 − 1) v(N2 , N1 )

5.3 Preprocessing 5.3.1 Overview The preprocessing consists of image transformations aiming at simplifying of further processing steps. Transformations are applied to correct errors resulting from imaging conditions and imaging devices. Further transformations are performed to enhance the applicability and quality of an image. Diﬀerent areas of preprocessing techniques can be distinguished: • • •

Transformation of coordinates Filtering methods Matching of images

5.3.2 Transformation of Coordinates Introduction. Many image processing tasks necessitate the geometrical transformation of images as well as of points and objects. These tasks include matching and warping of images, stereo image analysis, and re-sampling techniques. Further applications of the geometrical transformations are found in computer visualization and computer aided design. The transformation of coordinates can be deﬁned as: x = T (x) with the transformation T , the coordinate vectors x and x . Commonly, the coordinate vectors x and x are real and their dimension is equal. In the following sections a variety of transformations are introduced, which are frequently applied in image processing. The transformations are deﬁned in such a way, that points in a three-dimensional cartesian coordinate system are transferred into a three-dimensional cartesian coordinate system. The transformations can be simpliﬁed to two-dimensional and extended to fourdimensional coordinate systems.

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5 Digital Image Processing

(a)

(b)

(c)

Fig. 5.2. An example of aﬃne transformations of images. Points of (a) the original, two-dimensional image are transferred via (b) rigid transformation consisting of translation and rotation and (c) aﬃne transformation including scaling. The transformation leads to a two-dimensional image.

Aﬃne Transformations. An aﬃne transformation TA is deﬁned by [34, 35]: TA (x) = Ax + b with the matrix A, the translation vector b = (b1 , b2 , b3 )T and the original vector x. The matrix A is used to describe rotation, scaling and shear (Fig. 5.2). Several transformations can be combined in a single matrix A by concatenation of rotation, scaling and shear matrices. Speciﬁc cases of aﬃne transformations are the rigid transformations, whereby angles between lines and distances between points are preserved. The matrix A of a rigid transformation is restricted to be a concatenation of rotation matrices. No restrictions are made concerning the vector b. A rotation with the angle α in the xy-plane is given by the matrix Axy :   cos α sin α 0 Axy =  −sin α cos α 0  0 0 1 A scaling of sx in x-direction, of sy in y-direction and of sz in z-direction is obtained with the matrix Ascale :   sx 0 0 Ascale =  0 sy 0  0 0 sz Reﬂections can be produced by using negative values for sx , sy or sz . Projections are achieved by setting sx , sy or sz to zero.

5.3 Preprocessing

95

A x-shear is created by the matrix Ashear :   1ab Ashear =  0 1 0  001 with the parameters a and b. Homogeneous Transformations. Homogeneous transformations incorporate a larger degree of freedom than aﬃne transformations. A property of homogeneous transformations is that lines are transferred to lines, but that parallelism of lines is not preserved. A homogeneous transformation is performed in three steps. In the ﬁrst step the point x = (x1 , x2 , x3 )T is transferred to a point xhom in the fourdimensional space:   x1  x2   xhom =   x3  1 In the second step the intrinsic transformation Thom is performed: Thom (xhom ) = Axhom with the 4 × 4 matrix A. In the ﬁnal step the result of the transformation Thom , the point xhom , is transferred to the three-dimensional point x :     xhom,1 x  xhom,2  1  hom,1  xhom,2  with xhom =  x =  xhom,3  xhom,4 xhom,3 xhom,4 The matrix A is used to describe translation, rotation, scaling, shear and perspective [32]. Similarly to aﬃne transformations, several homogeneous transformations can be combined in a single matrix A by concatenation of matrices. A translation with the vector b = (b1 , b2 , b3 )T is determined by the matrix Atranslation :   1 0 0 b1  0 1 0 b2   Atranslation =   0 0 1 b3  000 1 A rotation with the angle α in the xy-plane is given by the matrix Axy :   cos α sin α 0 0  −sin α cos α 0 0   Axy =   0 0 1 0 0 0 01

96

5 Digital Image Processing

A scaling of sx in x-direction, of sy in y-direction and of sz in z-direction is obtained with the matrix Ascale :   sx 0 0 0  0 sy 0 0   Ascaling =   0 0 sz 0  0 0 0 1 Projections and reﬂections are created by setting appropriate scaling factors, in a similarl way as described for aﬃne transformations. A perspective transformation is determined by the matrix Aperspective :   10 0 0 0 1 0 0  Aperspective =  0 0 1 0 0 0 − λ1 1 with the parameter λ. Polynomial Transformations. Polynomial transformations can be regarded as extension of the linear aﬃne transformation. The transformation of the point x = (x1 , x2 , x3 )T into the point x = (x1 , x2 , x3 )T is given by: x1 = a0 + a1 x1 + a2 x2 + a3 x3 + a4 x21 + a5 x22 + a6 x23 + a7 x1 x2 + a8 x1 x3 + a9 x2 x3 x2

+ ... = b0 + b1 x1 + b2 x2 + b3 x3 + b4 x21 + b5 x22 + b6 x23 + b7 x1 x2 + b8 x1 x3 + b9 x2 x3 + ...

x3 = c0 + c1 x1 + c2 x2 + c3 x3

+ c4 x21 + c5 x22 + c6 x23 + c7 x1 x2 + c8 x1 x3 + c9 x2 x3 + ...

with the parameters ai , bi and ci . Radial Basis Function Transformations. Transformations of images can also be performed using the radial basis function transformation. In contrast to the previously described techniques the transformation shows a scalable local behavior, which can be of advantage in speciﬁc applications e.g. image warping (Fig. 5.3). The transformation TRBF is composed of an aﬃne TA and a radial transformation TR : TRBF (x) = TA (x) + TR (x)

5.3 Preprocessing

(a)

97

(b)

Fig. 5.3. Exemplary radial basis function transformation (from [26]). (a) The original image is transformed to (b) the result image. Given are a point (red cross) and its transformation (green cross). Obviously, the transformation is local. Distant areas are not transformed.

The aﬃne transformation TA is responsible for the global behavior and is given by: TA (x) = Ax + b with the matrix A and the vector b. The radial transformation TR in cooperates local behavior and is determined by:   TRX (x) TR (x) =  TRY (x)  TRZ (x) with the radial functions TRX , TRY and TRZ . The radial functions are constructed equal to the function R: R(x) =

N

ai g(|x − xi |)

i=1

with the scalar parameters ai , the points xi and the radial basis function g. The argument of g describes the distance between the point x and the point xi . Diﬀerent types of radial basis functions were proposed [36]: −t2

g(t) = e σ2 2 0≤t≤σ 1 − ( σt )2 (3 − 2t σ) g(t) = 0 otherwise  t 2 t 1 2  6( σ ) ( σ − 1) + 1 0 ≤ t < 2 σ 1−t 1 3 g(t) = 2( σ ) 2σ ≤ t ≤ σ   0 otherwise with the parameter σ. The parameter determines characteristics of the transformation, particularly the radial decrease of inﬂuence.

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5 Digital Image Processing

Parameter determination. The parameters of the radial basis function transformation TRBF , i.e. the matrix A and the vector b of the aﬃne transformation TA , as well as the parameters ai of the radial transformation TR are determined with the given parameter σ, points xi and their corresponding points xi . In a ﬁrst step the parameters of the aﬃne transformation TA are determined, e.g. by least squares methods [5] with a subset of the given points xi and xi . In the second step the parameters of the radial transformation TR are calculated by solving the following equation system: N

ajk g(|xi − xj |) = xik − (TA (xi ))k

j=1

5.3.3 Filtering Methods Introduction. The task of ﬁltering is the enhancement of image quality and the extraction of features. Filtering serves to simplify and support subsequent processing steps. Commonly, ﬁlters modify the image elements taking neighboring elements into account. Diﬀerent types of ﬁlters are distinguished depending on their domain: spatial and frequency domain ﬁlters. Filters can be grouped into linear and nonlinear ﬁlters. Hybrid ﬁlters can be constructed consisting of a sequence of ﬁlters. Filters are called global or local, if the ﬁlter operator is equal or not equal, respectively, over the whole image. In the following sections diﬀerent ﬁlters are introduced, which are of importance for typical image processing applications. The ﬁlters are formulated to work in a three-dimensional domain. Linear Filtering. Linear ﬁltering is performed by convolution of the image I with the ﬁlter mask M : I = M ∗ I The operation leads to the image I . The operator ∗ denotes a convolution. Linear ﬁlters have properties, which simplify their application and theoretical study: linearity, additivity, commutativity and associativity. Further ﬁlter properties, particularly dependence on spatial frequencies, can be studied by transforming the ﬁlter mask M in the frequency domain. Linearity. The linearity of a ﬁlter is guaranteed if the following equation is fulﬁlled: M ∗ (αI 1 + βI 2 ) = α(M ∗ I 1 ) + β(M ∗ I 2 ) with the ﬁlter mask M , the images I 1 and I 2 as well as the factors α and β. Additivity. The additivity of ﬁlters is guaranteed if (M 1 + M 2 ) ∗ I = M 1 ∗ I + M 2 ∗ I with the ﬁlter masks M 1 and M 2

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Table 5.1. Exemplary linear, three-dimensional ﬁlters and their 3 × 3 × 3 masks [26]. The given ﬁlter mask for the simple and Sobel gradient allows the extraction of the image gradient in x-direction. The masks for the y- and z-direction can be created by rotation about the z- and y-axis. Filter Average Simple gradient in x-direction

1 10

Sobel gradient in x-direction

1 12

Laplace

(a)

Mask    111 111 111 1  1 1 1   1 1 1   1 1 1  27 111 111 111     00 0 1 0 −1 00 0  1 0 −1   1 0 −1   1 0 −1  00 0 1 0 −1 00 0     00 0 1 0 −1 00 0  1 0 −1   2 0 −2   1 0 −1  00 0 1 0 −1 00 0     000 0 1 0 000  0 1 0   1 −6 1   0 1 0   000 0 1 0 000 

(b)

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Fig. 5.4. First and second order derivative ﬁlters applied on CT data (from [26]). (a) The original image is ﬁltered with the (b) Sobel- and (c) Laplace-ﬁlter. The Sobel-ﬁlter approximates the magnitude of the gradient in the image. The Laplaceﬁlter approximates the Laplace-operator applied to the image.

Commutativity. Filters are called commutative if M 1 ∗ (M 2 ∗ I) = M 2 ∗ (M 1 ∗ I) Associativity. Filter are called associative if M 1 ∗ (M 2 ∗ I) = (M 1 ∗ M 2 ) ∗ I Typical linear ﬁlters are average, gradient, and Laplace-ﬁlters (table 5.1). Average ﬁlters perform a low-pass ﬁltering of the image and are applied for noise reduction and blurring. Small objects and structures consisting of high frequency components are erased. Gradient and Laplace-ﬁlters perform highpass ﬁltering of the image and are used for example to detect edges in images (Fig. 5.4).

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Fig. 5.5. Comparison of average and median ﬁlter (from [37]). (a) An image ﬁlled partly with noise. The image after application of (b) average and (c) median ﬁlter. The average ﬁlter shows blurring and noise reduction properties. The median ﬁlter reduces noise, while preserving edges.

Gradient ﬁlters approximate the ﬁrst derivative or so-called gradient of an image ∇I by applying three unidirectional gradient masks M x , M y , and M z :   Mx ∇I ≈  M y  ∗ I Mz Diﬀerent types of gradient masks can be derived, e.g. the simple gradient and the Sobel-ﬁlter masks (table 5.1). Commonly, the magnitude of the image gradient ∇I is determined and used as ﬁlter response: I = |∇I| Laplace ﬁlters approximate the Laplace-operator ∆, i.e. divergence of gradient, by convolution with an appropriate mask M . The Laplace-operation applied to the image I is given by: I = ∆I ≈ M ∗ I Rank-Order Filters. Rank-order ﬁlters replace an element’s value with the value of an element inside of a given area. The shape of the area is commonly cubic or spherical. The replaceable element is located centrally in the area. The values of all elements in the given area are collected and sorted by size. Rank-order ﬁlters are nonlinear. Typical three-dimensional rank-order ﬁlters are median, erosion and dilation ﬁlters. Median. The median ﬁlter uses the middle value in the sorting of element values. The ﬁlter reduces noise and preserves edges. Blurring phenomena similar to linear average ﬁlter are not observed (Fig. 5.5). Erosion. The smallest value in the sorting of element values is selected by the erosion ﬁlter. The choice leads to the reduction of high value areas. Single elements with relatively high values regarding the neighborhood are erased.

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Fig. 5.6. Opening operator applied to grey level image (from [37]). (a) Original image. The image resulting from application of (b) erosion ﬁlter and (c) opening operator. The opening operator consists of an erosion followed by a dilation. Small artifacts are erased and the object’s area is reduced by the erosion ﬁlter. The object’s area is preserved by the opening operator.

Dilation. The dilation ﬁlter uses the largest value in the sorting of element values. High value areas are extended. Isolated low value elements are removed. Hybrid Filters. Hybrid ﬁlters are constructed by the concatenation of two and more ﬁlters. Partly, the ﬁlters are parameterized by feature extraction. In the following important hybrid ﬁlters, i.e. the opening and closing operators as well as the Canny-Deriche-Monga ﬁlter, are introduced. Opening. The opening operator consists of a sequence of rank-order ﬁlters. The application of n×erosion is followed by n×dilation. The operator allows the reduction of small junctions and bulges (Fig. 5.6). Closing. The closing operator consists of a sequence of rank-order ﬁlters. The application of n×dilation is followed by n×erosion. Small gaps are deleted and objects close to one another are connected. Canny-Deriche-Monga Filter. The Canny-Deriche-Monga ﬁlter was speciﬁcally developed for edge detection. The ﬁlter is based on the deﬁnition of diﬀerent criteria for the computation of edge points [38], which were originally formulated for one- and two-dimensional data. The criteria are: • • •

Good detection. The probability of fail and missing detections should be small. Good localization. The detected edge points should be near to the true edge. Single response. Multiple detection responses corresponding to the same edge point should be avoided.

The algorithm consists of three steps: In a ﬁrst step gradient ﬁlters are applied to detect edges. The second step serves to remove multiple edge points.

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Fig. 5.7. Comparison of diﬀerent edge detection ﬁlters (from [37]). (a) The original image. The image after application of (b) simple gradient, (c) Sobel-, and (d) CannyDeriche-Monga-ﬁlter.

A non-maxima suppression of points perpendicular to the edge is performed. With the ﬁnal step, missing edge points leading to the so-called streaking were attached to the edge using adaptive thresholding with hysteresis. Deriche and Monga extended the approach to three-dimensional domains. They implemented an eﬃcient version [39], whereby the computational expense is linearly dependent on the image size. A comparison of diﬀerent edge detectors is illustrated in Fig. 5.7. The ﬁlter is utilized amongst other things in conjunction with the subsequently introduced active contour models for image segmentation.

5.4 Segmentation Techniques 5.4.1 Introduction Segmentation is deﬁned as the division of an image into objects or regions [32]. The objects are represented by homogeneous regions. The homogeneity

5.4 Segmentation Techniques

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Fig. 5.8. Segmentation of two-dimensional image of CT with thresholding (from [26]). (a) The original image. The result of a segmentation with relation ‘≥’ and threshold (b) 1, (c) 40, (d) 60, (e) 80, and (f) 100.

is assessed by attributes like color intensity and gray level in images as well as the absorption coeﬃcient in CT scans. Segmentation methods can be classiﬁed into automatic, semi-automatic and manual methods. Automatic methods perform an image segmentation without any user intervention. Semi-automatic methods need a parameterization by the user to guide the segmentation process. Manual methods require the highest level of user interaction. Commonly, the user deﬁnes the segments interactively. Segmentation methods can be divided in point, region and edge based methods. Point based methods use only the attributes of an image element for its segmentation. With region based methods image elements are attached to segments in the context of their neighborhood. Edge based methods are based on the extraction of edges in the image data. In the following sections diﬀerent segmentation techniques are described and their exemplary application with medical images is illustrated. The techniques are pragmatic for segmentation of medical images. Further applications of these techniques are described in Sect. 6.4. 5.4.2 Thresholding Thresholding is a point based approach to image segmentation. A voxel is assigned to a region if the image element’s characteristics are in a relation,

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Fig. 5.9. Segmentation of three-dimensional CT with thresholding (from [26]). The result of a segmentation with relation ‘≥’ and threshold (a) 40 and (b) 80. The ﬁrst threshold is chosen to segment tissue, the second to segment bone and marrow. Outlying artifacts are caused by noise.

e.g. ‘<’, ‘≤’, ‘≥’ and ‘>’, to a threshold value. Both, relation and threshold value are given parameters and commonly kept constant while processing. Parameters can be determined by image analysis, e.g. histogram evaluation. The created segments are commonly not contiguous. An extension of thresholding allows the assignment of an image element at coordinates x to regions by a function T : T = T (x, p(x), I(x)) with the characteristic of the adjacent region p(x) and the image value I(x). The return value of function T identiﬁes the region. Thresholding can be directly applied e.g. to segment bone structures in CT (Fig. 5.8 and 5.9). A preprocessing by median ﬁltering is of advantage to reduce artifacts caused by noise. An eﬃcient implementation uses precalculated boolean look-up tables, which use the element’s value as the index. 5.4.3 Region Growing Region growing is a region based technique for image segmentation. Region growing means that image elements are collected starting from a set of seed points (Fig. 5.10). If their neighboring elements match the region characteristics, they are included within this region and are chosen to be new seed points. Commonly, in three-dimensional image processing, neighborhoods of 6, 18 or 26 elements are used. In two-dimensional segmentation neighborhoods of 4 or 8 elements are often applied. The match of region characteristics can be checked by thresholding techniques. Region growing is an iterative process, terminating if no neighboring voxels ﬁt in the region characteristics. Each seed point creates a contiguous segment.

5.4 Segmentation Techniques

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Fig. 5.10. Segmentation of three-dimensional CT with region growing (from [26]). Region growing is initiated by setting a seed point at upper skullcap using a 6neighborhood and given threshold. The image sequence (a-h) shows diﬀerent stages of the region growing process. In contrast to the application of threshold techniques a single region without outlying artifacts is constructed.

Region growing can be employed e.g. to segment bone structures in CT (Fig. 5.10). Commonly, preprocessing of the image data is performed. An eﬃcient implementation provides the usage of a special data structure, the so-called ring buﬀer, for the management of the seed point set. A ringbuﬀer provides fast insertion and removal of seed points using a ﬁrst-in-ﬁrstout strategy. The ring-buﬀer consists of a static array of elements, which has to be chosen suﬃciently large, and of two indices, one for insertion and one for removal of elements. Initially, the indices are set to zero. The insertion and removal indices are incremented by insertion and removal, respectively. Index overﬂows are handled by setting the index to zero. The number of elements is determined by the distance of the insertion and removal index. 5.4.4 Watershed The watershed algorithm is an edge based segmentation technique. In the ﬁrst step the magnitude of the image gradient Ig = |∇I| is determined. In the second step all image elements are scanned and segmented. Image elements are assigned to a region, which have a continuous descending path to a common minimum. The path is iteratively constructed starting

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Fig. 5.11. Image segmentation with active contour model (from [37]). (a) Twodimensional image with initial contour. Assigned to the contour is an energy, which is minimized concerning the geometry. The resulting advance of the contour is shown in (b)-(f). The energy includes stretch and image energies.

at the position of the image element p. Here, the image gradient ∇Ig (p) is determined, e.g. by applying the Sobel-ﬁlter. If the gradient is zero, a minimum is found and the image elements are assigned to a region. Otherwise, a step in gradient direction is performed leading to a new position p and the next iteration step is executed setting p = p . The step size is chosen in such a way that an adjacent image element is hit. Commonly, the segmentation achieved with the watershed algorithm leads to a large number of regions. The fusion of elements can be performed with manual and automatic methods [40]. 5.4.5 Deformable Models Traditional Active Contour Models. Active contour models are edge based methods for image segmentation by iterative adaptation of a surface to edges of an object (Fig. 5.11 and 5.13). The method beneﬁts from knowledge concerning surface characteristics of objects. The application also requires knowledge of the position and the shape of the objects.

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Fig. 5.12. Potential function for active contour models (from [26]). (a) The original image with red, green and blue channels. (b) Image with height information derived from gradient magnitude of red-channel |∇I(x)|. The potential function used in active contour models is the negative gradient magnitude weighted by a parameter.

Two-dimensional active contour models. In two-dimensional space the geometry of an active contour model can be described by the function v [41, 42, 43]:

vx (s) v(s) = (5.1) vy (s) with the parameter s ∈ [0, 1]. Commonly, the contour is closed, i.e. v(0) = v(1). Attributed to the contour is an energy E: E(v) = Einternal (v) + Eexternal (v) which is divided in an internal and external energy, Einternal and Eexternal , respectively. The internal energy Einternal is the sum of the stretch and bending energy. The stretch energy Estretch is deﬁned as: Estretch (v) = ωstretch

0

1

2 ∂v ds ∂s

with the weighting parameter ωstretch . The parameter controls the tension of the active contour. The bending energy Ebend is given by: Ebend (v) = ωbend

0

1

2 2 ∂ v ∂s2 ds

with the weighting parameter ωbend . The parameter controls the bending rigidity, which inﬂuences the contour’s smoothness. The external energy Eexternal can consist of image energy Eimage , balloon energy, gravitation energy, attractor energy etc.. Variant formulations and combinations of these energies are reported [44, 45, 46, 47].

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The image energy connects the active contour with the image I via the potential function p: 1 Eimage (v) = p(v(s))ds 0

The potential function p uses the negative magnitude of the image gradient (Fig. 5.12): p(x) = −ωp |∇I(x)| with the weighting parameter ωp . The potential function p provides minima at edges. Alternatively, the potential function can be constructed after smoothing of the image [48]: p(x) = −ωp |∇G ∗ I(x)| with the Gaussian mask G. The advance of a contour is resulting from iterative minimization of the energy E concerning the geometry v. The minimization can be performed e.g. with ﬁnite element methods (Sect. 2.7.3) and ﬁnite diﬀerences methods (Sect. 2.7.4) by discretization of the Lagrange equation of motion:

∂ ∂v ∂ 2v ∂v ∂2v ∂2 − µ 2 +γ ωstretch + 2 ωbend 2 = −∇p(v(s)) ∂t ∂t ∂s ∂s ∂s ∂s with the mass density µ and the damping density γ. The application of the numerical methods requires a discretization of the contour’s geometry e.g. with linear, quadratic and cubic functions. A minimum is found if the gradient of the contour’s energy, i.e. forces, is constant zero: ∇E = 0 Correspondingly, the so-called Euler-Lagrange equation is fulﬁlled:

∂v ∂2v ∂2 ∂ ωstretch + 2 ωbend 2 + ∇p(v(s)) = 0 − ∂s ∂s ∂s ∂s Three-dimensional active contour models. Active contour models can be applied in three-dimensional space and image data [49]. The geometry of the contour is given by:   vx (s) (5.2) v(s) =  vy (s)  vz (s) with the parameter s ∈ [0, 1][0, 1]. The application in three-dimensional space requires the reformulation of some energies, e.g. of stretch and bending. The three-dimensional stretch energy Estretch is deﬁned as: 2 1 1 ∂v 2 + ωstretch,2 ∂v dv1 dv2 Estretch (v) = ωstretch,1 ∂s1 ∂s2 0 0

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Fig. 5.13. Three-dimensional image segmentation with active contour model (from [37]). (a) The initial contour is a sphere. The resulting advance of the contour is shown in (b)-(f). The energy includes stretch and image energies. The triangle mesh is dyed with colors from the image.

with the weighting parameters ωstretch,1 and ωstretch,2 . The parameters control the tension of the active contour in s1 and s2 direction, respectively. The three-dimensional bending energy Ebend is given by: Ebend (v) =

1 0

0

1

2 2 2 2 2 2 ∂ v ∂ v ∂ v dv1 dv2 ωbend,1 2 + ωbend,2 2 + ωbend,3 ∂s1 ∂s2 ∂s1 ∂s2

with the weighting parameters ωbend,1 , ωbend,2 and ωbend,3 . The parameters control the bending rigidity in s1 and s2 direction as well as the twisting rigidity, respectively. Topologically Adaptable Active Contours. Topologically adaptable active contours are an extension of the traditional contours, which have a constant topology [51, 52, 53]. The extension allows splitting and merging of contours (Fig. 5.14 and 5.15). While advance of the contour its discretization is adapted. The re-discretization respects overlapping and separations of contour parts. The rediscretization can be performed locally [51] or globally [52, 53].

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Fig. 5.14. Splitting of active contour model (from [50]). Two spheres are segmented starting with an infolding single spherical contour. The images (a)-(f) show the advance of the contour.

The techniques take advantage of discretization of the active contour with a triangle mesh. Triangle meshes allow eﬃcient management and implementation of operations, e.g. crop and distance measurement. A local re-discretization is performed after assessment of contour elements and relations between these elements [51]. The distance between node points is used to separate and melt local regions. A global re-discretization scans information concerning the inside and outside of contours. The information is collected in the node points of tetrahedrons [52] or hexahedrons [53]. The contour can be reconstructed using the information by generating triangles in the polyhedrons. Triangles are created at borders between inside and outside node points. A triangulation in hexahedrons is performed eﬃciently with the so-called marching cube algorithm [54, 55]. Level Set Methods. Level set methods are a type of active contour models, which allow implicit topological adaptation [56]. The methods showed to have advantages in medical image processing due to their ability to extract the shapes of divers anatomical structures [57]. In level set methods the contour v given in equation 5.1 and 5.2 is represented as zero level set: Φ=0

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Fig. 5.15. Melting of active contour model (from [50]). A torus is segmented starting with two enclosed spherical contours. The images (a)-(f) show the advance of the contour.

of a higher dimensional function Φ. The function Φ maps positions x at a given time t to a signed distance d to the closed contour v: Φ(x, t) = d A positive and negative distance indicates positions inside and outside of the contour v, respectively. An initial contour v(t = 0) is deﬁned by: v(t = 0) = (x|Φ(x, t = 0) ≡ 0) An evolution of the function Φ at the positions of the contour v is derived starting with: Φ(x, t) = 0 Applying the chain rule leads to: ∂Φ ∂Φ ∂xi + =0 ∂t ∂xi ∂t i=1 N

The summation term can be expressed with a speed function F . At a position x ∈ v the function F has the property that the vector xt = F (x, t) is normal to the surface v(t). The function F can be inﬂuenced by bending, stretch, image properties etc..

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Herewith, the summation term is transformed to: N ∂Φ ∂xi = F (x(t))|∇Φ| ∂xi ∂t i=1

The evolution of the function Φ is expressed by: ∂Φ + F (x(t))|∇Φ| = 0 ∂t A multitude of level set variants exist, which can be classiﬁed by the deﬁnition of the speed function F and the numerical implementation [57]. Particularly, the inclusion of anatomical knowledge via regularization of level sets is a topic of active research. 5.4.6 Manual Methods Manual methods are commonly applied in cases which are not successfully segmentable by automatic or semi-automatic methods. These cases may arise if images are damaged, show an insuﬃciently contrast, or more automated methods are not available. A multitude of manual methods were developed, partly based on the previously described techniques. E.g. pixel-wise painting can be supported with the thresholding and watershed techniques. Attractors allow the user interaction with active contour models. Frequently, manual methods are followed by an application of further segmentation techniques. The user creates masks or modiﬁes the image data in such a way that further processing is simpliﬁed. The interactive construction of surfaces proved as an eﬃcient method for separating or enclosing of objects [58, 59] (Fig. 5.16 and 5.17). The method is related with the three-dimensional active contour models. The deformation of an initial contour is controlled by the user, who picks and moves contour elements. The moving of an element aﬀects the elements of a selectable adjacent area. The deformation is controlled by usage of radial basis function transformation (Sect. 5.3.2).

5.5 Principal Component Transform The determination of principal axes is the main step of the principal component transform, which can be applied in the area of digital image processing to characterize objects and image areas. The transform is also known in literature as discrete Karhunen-Loeve, eigenvector and Hotelling transform [60]. The principal component transform is built on the fundamentals of statistics. It works based on a population X of N random vectors of the following notation:

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Fig. 5.16. Interactive deformation of triangle mesh for segmentation of aorta. (a) The image overlayed with an initial triangle mesh and (b) manually adapted triangle mesh. The user adapts the mesh by picking and moving of mesh elements. The moving leads to a local deformation with controllable area of inﬂuence. The user interaction is performed in two-dimensional slices of selectable orientation and position. The resulting mesh deformation is three-dimensional.

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Fig. 5.17. Interactive deformation of triangle mesh in three-dimensional visualization. (a) The triangle mesh is initially spherical. (b) The manually adapted triangle mesh representing the aorta. The triangle mesh is dyed with colors from the image.

X = (x1 , x2 , . . . , xN )T The vectors xi with i ∈ {1, . . . , N } are M -dimensional and can be described in the following notation: xi = (xi1 , xi2 , . . . , xiM )T

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In digital image processing the vectors xi are commonly 2–4 dimensional depending on the dimension of the image data. The image elements are taken into account for the generation of the vector population. The elements of the vector population describe the center of gravity of image elements. In black and white pictures, with image elements coded by 0 for black and 1 for white, a single vector is created for each white image element. In gray value pictures a number of vectors is created for each image element. Here, the number is determined by the gray value. The mean vector mX of a population X is deﬁned as mX = E(X), where E(X) is the expected value. The mean vector can be approximated from N vector samples of the population: mX ≈

N 1 xi N i=1

The covariance matrix C X of a population X is deﬁned as: C X = E((X − mX )(X − mX )T )) The covariance matrix can be approximated from N vector samples of the population: N 1 CX ≈ xi xTi − mX mTX N i=1 One way to determine the principal axes is the diagonalization of the covariance matrix. A diagonal matrix D and a rotation matrix R can be determined, which fulﬁll the following condition: C X = RT DR This can be achieved by calculation of eigenvalues λi and eigenvectors ei (Sect. 2.4.4), which are determined by: C X ei = λi ei The eigenvalues are real, because the covariance matrix is symmetric [8]. They can be notated in descending order: λ1 ≥ λ2 ≥ · · · ≥ λM The diagonal matrix D has the following form:   λ1 · · · 0   D =  ... . . . ...  0 · · · λM The rotation matrix R consists of the eigenvectors: R = (e1 , . . . , eM ) The ﬁrst eigenvector e1 is referred to as the ﬁrst principal axis, the i-th eigenvector ei is called the i-th principal axis.

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Fig. 5.18. Examples of textures with orientation (adapted from [61]). (a) Gray level image with unidirectional sine waves. (b) Photography from Visible Human project showing abdominal muscle structures.

5.6 Texture Orientation 5.6.1 Introduction Techniques of digital image processing can be used to characterize image areas, so-called textures, concerning the orientation of enclosed objects and structures (Fig. 5.18). Commonly, orientation at a position can be represented by a vector. The vector’s magnitude describes the strength or reliability of orientation. Some representations use unit vectors, which allow to describe orientation by two angles, each in the range [0, π]. An application of knowledge concerning orientation is found in anatomical modeling of skeletal and cardiac muscle structures. The macroscopic orientation of ﬁbers is of importance for the assignment of anisotropic physical properties, e.g. electrical conductivity and mechanical material tensors. In the following sections diﬀerent methods are described for the detection and assignment of texture orientation. Rule-based methods are presented, which allow to create orientation ﬁelds by deﬁnition of problem speciﬁc functions. A manual method is introduced, which allows the interactive deﬁnition of orientation in three-dimensional datasets. Furthermore, techniques for the interpolation of orientation are presented starting from boundary conditions. The interpolation techniques are similar to techniques for solution of electrical ﬁeld and mechanical problems. 5.6.2 Detection and Assignment Texture Analysis. In the literature diﬀerent techniques are proposed for detection of orientation, e.g. gradient extraction, quadrature ﬁlters, eigenvalues of inertia tensor and of covariance matrix [62, 63, 61].

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Fig. 5.19. Three-dimensional editor for manual assignment of orientations and their normals. Displayed are transversal, sagittal and frontal cuts in the photographs of the Visible Man dataset from diﬀerent perspectives.

An obvious technique is the extraction of image gradient and using its normal as orientation. An utilization of this technique is possible only in twodimensional images. A detection with quadrature ﬁlters requires the construction of a set of linear ﬁlters. Each ﬁlter corresponds to a direction. The orientation is determined by averaging the vectors corresponding to the response of ﬁlters applied in the texture. The detection techniques basing on extraction of inertia tensor and covariance matrix are similar in proceeding: The tensor and matrix, respectively, are determined in the texture. The eigenvectors and -values are determined (Sect. 2.4.4). If the smallest eigenvalue is multiple, texture orientation is indeﬁnite. Otherwise orientation is deﬁned by the eigenvector corresponding to the smallest eigenvalue. Rule-Based Methods of Assignment. Rule-Based methods are commonly applied, if images provide insuﬃcient information for texture analysis. These cases can arise e.g. if image resolution is small or if images show an insuﬃcient contrast. Manual Methods of Assignment. Manual methods can be applied in cases, which show a small reliability of the orientation detection, particularly if the complexity of the orientation ﬁeld is too high for rule-based assignment. A three-dimensional editor allows the interactive, manual assignment of orientations and their normals (Fig. 5.19). The editor displays transversal,

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sagittal and frontal cuts in image datasets from diﬀerent perspectives. Default values for the orientation and normals are created automatically by the upper detection technique basing on texture analysis. The covariance matrix is determined in a spherical region of the image and the eigenvector corresponding to the smallest eigenvalue serves a default orientation. The user has the option to manipulate the default values. 5.6.3 Interpolation Commonly, after point-wise detection, rule-based and manual assignment an interpolation is performed. The interpolation serves to assign orientation in areas, which no orientation is a-priori known. An eﬃcient technique for interpolation utilizes two sets of restrictions [64, 61]: • •

a set RO , which consists of points and their associated orientation a set RT , which consists of points and their associated normal of orientation

These sets of restrictions can be determined by detection, rule-based and manual assignment. The interpolation starts with an initialization of the orientation dataset. The orientation of each voxel in this dataset is initialized with the orientation of the nearest point in the set RO . The interpolation continues with averaging orientations in the 6-neighborhood. The average of neighboring orientations is calculated determining of their principal axis. The calculation is repeated until the changes of orientations between successive steps are negligible. Attention is paid to the restrictions in each iteration. The orientation of voxels with restrictions represented by set RO is unchanged during the interpolation. The orientation of voxels with restrictions represented by set RT is determined by calculating the average orientation in the 6-neighborhood. The result is projected into the plane perpendicular to the given normal of the orientation. The results of the interpolation with diﬀerent sets of test data are shown in Fig. 5.20, 5.21, and 5.22. For each interpolation the number of iterations, orientations and normals of orientations are given.

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(a)

(b)

Fig. 5.20. Exemplary one-dimensional interpolations of orientations (adapted from [64]). (a) The interpolation was determined based on the given orientations O1 and O2. (b) The interpolation was calculated using the given orientation O3 and normal of orientation N1. The number of iterations amounted to 10.

(a)

(b)

(c)

(d)

Fig. 5.21. Exemplary two-dimensional interpolations of orientations (adapted from [64]). The interpolation was calculated using as restrictions (a) two orientations and (b,c) four orientations. (d) The interpolation was determined using an orientation and a normal of orientation. The number of iterations was 20.

Fig. 5.22. Exemplary three-dimensional interpolation of orientations (adapted from [64]). The interpolation was determined from two given orientations. The number of iterations amounted to 20.

6 Cardiac Anatomy

6.1 Overview The heart constitutes together with the blood vessels the cardiovascular system, which has the task of transporting blood in the body. In this system the heart acts as a cyclically working pump and as a blood reservoir. The anatomy is closely coupled with its physiology. Depending on the stage of development, the species, the gender, and pathologies diﬀerences can be found in the anatomy as well as in the physiology. The diﬀerences concern the microscopic and macroscopic structures as well as the mechanical behavior. Anatomical diﬀerences of the mammalian heart are found depending on the posture of a species. The human heart is trapezoidal in silhouette, whereas in pigs a ”Valentine heart” shape can be attributed [66]. The attachment of blood vessels is species dependent and interindividual variations are reported. The anatomy of the heart can be described from diﬀerent viewpoints, e.g. spatial, embryologic and physiologic. From a macroscopic spatial view a mammalian heart is located inside of the thorax and near to the lungs embedded by the pericardial sac (Fig. 6.1). Large blood vessels are connected to the heart. The heart itself is separated in two functionally and anatomically similar structures, the right and left halves, which represents the division of the blood circulation system in two diﬀerent parts. The right half collects the deoxygenated blood from the body and pumps it to the lungs. The left half receives the oxygenated blood from the lungs to deliver it to the body. The left half has to generate a higher power, so it is the larger one. The halves can be further divided into an upper and lower part, the socalled atria and ventricles, respectively. Therefore, a mammalian heart comprises of a left and right atrium, and a left and right ventricle. The atria collect the incoming blood, which is then transported to the ventricles. From these the blood is moved to supply the body and the heart itself. The ventricles are the primary generator of power resulting in relatively large muscular structures.

F.B. Sachse: LNCS 2966, pp. 119–155, 2004. c Springer-Verlag Berlin Heidelberg 2004

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Fig. 6.1. Historical outline of human heart with vessels, lungs and spine (from [65]). The lungs were torn side wards to allow the sight onto the heart. The heart lies in between the lungs in the middle mediastinum and is enclosed by the pericardium.

The atria and ventricles are composed of walls surrounding a cavity, which is normally ﬁlled with blood. The walls consist primarily of a muscle structure, the myocardium, which is covered inside and outside by layers, the endocardium and epicardium, respectively. Therefore, a region in the myocardium can be classiﬁed in the three groups: subepicardial, midwall and subendocardial. The epicardium is part of the pericardial sac. The atrial myocardium is much thinner than the ventricular, with the myocardium of the left ventricle as the biggest structure of the heart. The atria and ventricles are connected with blood vessels. Valves are located at diﬀerent places in the cavities, which fulﬁll a controlling function for the blood ﬂow. The contraction of the myocardium causes the blood ﬂow. The myocardium is built up by a muscular tissue richly pervaded by nerve ﬁbers, blood vessels, capillaries, and lymphatic vessels. From a microscopic view the myocardium consists primarily of discrete myocytes surrounded by a membrane. Aside from these ﬁbroblasts, pericytes, nerve cells etc. are found. Fibroblasts make up the majority of cells of nonmyocyte cells and reside in the interstitium [67].

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Fig. 6.2. Isolated canine left ventricular myocyte (from [71]). The myocyte is stained with an antibody for the gap junction protein to visualize the distribution of the gap junctions.

The membrane of myocytes includes pores of diﬀerent types, which allow the transport of diverse substances into and out of the cell. The shape and arrangement of myocytes are dependent on their location and type. The myocardium is surrounded by connective tissue structures forming the epi- and endocardium. Furthermore, connective tissue links mechanically the diﬀerent cells in the myocardium. The connective tissue includes collagen and elastin ﬁbers. In the following sections a description of the microscopic and macroscopic structures of the heart is given. The cardiac myocytes, their connection by intercalated disks and connective tissue, their oriented and laminated arrangement as well as the gross anatomy of the heart focusing blood vessels, muscle and nervous structures are presented with respect to their role in electrophysiology and mechanics.

6.2 Microscopic Structures and Molecular Organization 6.2.1 Myocytes Myocytes are commonly distinguished by their function, which is closely coupled with their anatomy. Resulting from functional reasons the volume, surface area and distribution of cellular components are diﬀering, e.g. for atrial and ventricular myocytes. Diﬀerences can also be found depending on the pathologies, age and species [68, 69]. Myocytes assigned to the working myocardium produce primarily mechanical tension. The functions result in an increase of the volume ratio of the involved intracellular structures, i.e. contractile elements and providers of energy. Myocytes of the mammalian working myocardium are of irregular cylinder shape and branching processes are frequently occurring (Fig. 6.2 and 6.3) [70]. The length of myocytes is in the range between 50 and 120 µm and the diameter between 5 and 25 µm. Specialized myocytes in the myocardium have the task of initiating and transmitting an electrical excitation. These functions result in an adaptation of the cellular shape and the involved cellular structures, e.g. the distribution and density of ionic channels. In the initiator of electrical excitation, the sinus node, diﬀerent types of cells are observed, spider and spindle shaped, irregular cells [72]. In humans the spider cells have an extension of 92 − 102 µm with a

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Fig. 6.3. Myocytes with connective tissue and capillaries in the myocardium of hamster (from [70]). The picture shows an area with a width of 42 µm and a height of 21 µm created with scanning electron micrography.

central body diameter of 7 − 9 µm. The spindle shaped cells of the sinus node have a central body diameter of 5 − 7 µm and an extension of 115 − 130 µm. In many locations the arrangement of myocytes is ordered and the cellular form leads to a macroscopic anisotropic electrical and elastomechanical behavior. Hence, many approximations for numerical simulation purposes describe myocytes by cylinders or bricks. Principal axes are assigned to determine the cellular orientation. This section is focused on the mammalian cardiac myocytes of the working myocardium. Partly, comparisons with skeletal myocytes are carried out. The myocytes are enclosed by the sarcolemma, which delimits the extracellular from the intracellular space. Myocytes are surrounded by the extracellular space, which contains e.g. collagen ﬁbers, water, and electrolytes. In the intracellular space reside the nucleus, the mitochondria, the myoﬁbrils, the sarcoplasmic reticulum and the cytoskeleton. The intracellular space is ﬁlled up with the sarcoplasm (myoplasm, cytoplasm) containing water, lipids, carbon hydrates, salts, and proteins, e.g. calcium binding calmodulin. Sarcolemma. The sarcolemma represents a semi-permeable barrier, which is built up primarily by a phospholipid bilayer with a thickness of 3 − 5 nm. Each phospholipid consists of two hydrophobic tails adhered to a hydrophilic head (Fig. 6.4). The hydrophobic tails are aligned and located inside. The hydrophilic head is found superﬁcially of the bilayer (Fig. 6.5 and 6.6). The phospholipids can move laterally in the sarcolemma. The bilayer contains peripheral proteins attached to the surface of the sarcolemma and transmembrane proteins spanning over the sarcolemma. The proteins are responsible are responsible e.g. for signaling and cell-adhesion. Important transmembrane proteins are ionic channels, exchangers, and pump proteins as well as gap junctions and receptors. Proteins relevant for celladhesion are cadherins, integrins, selectins, and immunoglobulins. These transmembrane and membrane-attached proteins are partly ﬂoating in the bilayer, but can also be ﬁxed to elements of the cytoskeleton.

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(a)

(b)

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(c)

Fig. 6.4. Molecular structure of phospholipid from diﬀerent view points (data from [73]). A phospholipid consists of two hydrophobic tails attached to a hydrophilic head. Atoms are color-coded (blue: nitrogen, red: oxygen, brown: phosphorus, dark grey: carbon and light grey: hydrogen).

Fig. 6.5. Molecular structure of phospholipid bilayer with two-dimensional alignment (data from [73]). The phospholipids align itself in water such that the hydrophilic head is found superﬁcially and the hydrophobic tails are located inside. Atoms are color-coded.

Specializations of the sarcolemma are the so-called transversal tubuli, which intrude into the myocyte primarily at the adjacencies of the Z disks [74]. The transversal tubuli infold the myoﬁbrils and end near to the sarcoplasmic reticulum. Despite their name the transversal tubuli show not only transversal, but also horizontal components. The transversal tubuli feature diﬀerences in concentrations of transmembrane proteins, particularly responsible for calcium handling. In many species transversal tubuli are prevalent in ventricular, but absent or reduced in atrial myocytes and Purkinje cells. Myocytes from birds, reptiles and amphibians show no incidence of transversal tubuli.

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(a)

(b) Fig. 6.6. Molecular structure of phospholipid bilayer in three dimensional alignment viewed (a) with and (b) without water molecules (data from [73]). Atoms are colorcoded.

In mammalian ventricular cells transversal tubuli take commonly a large area of the sarcolemma. Depending on species 11 % to 51 % are occupied. The percentage volume of myocyte taken by the transversal tubuli ranges from 0.8 % for mouse to 3.6 % in rat. A smaller area of the sarcolema and of the volume is occupied in mammalian atrial cells. Intercalated Disks. A further specialization of the sarcolemma is found at the intercalated disks, which are regions, where adjacent cells are mechanically

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coupled. Here, intercellular channels, so-called gap junctions (Sect. 6.2.2), form a coupling of the intracellular space, which is of large signiﬁcance for intercellular signalling. Further components of the intercalated discs are desmosomes and fasciae adherentes, which provide intercellular mechanical connection. In the intracellular space, Desmosomes and fasciae adherentes anchor intermediate ﬁlaments of the cytoskeleton and bundles of sarcomeric myoﬁbers, respectively [75, 76]. Nucleus. The nucleus takes a small amount of the volume of myocytes, e.g. approximately 2 − 4 % of atrial and ventricular myocytes. It has an ellipsoid shape, is centrally located and surrounded by a membrane. Mitochondria. Mitochondria belong to the cellular organelles and are surrounded by a double-layered membrane. The outer membrane contains the protein porin, which allows passage of ions and small molecules up to 10 kD. The inner membrane, so-called cristae, is nearly impermeable and highly folded. The inner membrane includes ionic channel, pump and exchanger proteins, i.e. hydrogen pumps, calcium ionic channels, sodium-calcium, and hydrogen-sodium exchangers. Mitochondria occupy approximately 14 − 20 % of the volume of atrial and 25 − 36 % of ventricular myocytes. They are cylinder shaped with a length of 0.3 − 1.7 µm and a diameter of 0.2 − 1 µm. The mitochondria are found near to the sarcolemma and between myoﬁbrils, which results from their task as provider of energy for the myoﬁlaments as well as the sarcolemmal and sarcoplasmic ion pumps. The cellular supply of energy is performed by components of the inner membrane of the mitochondria, which generate adenosine triphosphate (ATP) via oxygenation of nutrients. Myoﬁbrils. The myoﬁbrils are tube shaped contractile elements taking a high part of the cellular volume, i.e. approximately 41 − 53 % of the volume of atrial and 45 − 54 % of ventricular myocytes (Fig. 6.7). The myoﬁbrils have an approximate thickness of 1 µm and are divided every 2.5 µm by the Z disk into the sarcomeres. Sarcomere. The sarcomeres contain the myoﬁlaments (Fig. 6.8), which are of importance for the mechanical contraction. Furthermore, elongated proteins, i.e. titin and nebulin, are found in the sarcomeres [76]. Titin spans parallel to the myoﬁlaments from the Z disks nearly to the center of the sarcomeres with a length of approximately 1 µm. Titin shows a large number of isoforms, e.g. heart muscle N2B isoform with a molecular weight of 2970 kD, soleus skeletal muscle isoform with 3700 kD, and novex-3 titin isoform with ≈ 700 kD. Titin is the third most abundant protein after myosin and actin in myocytes [78]. Nebulin with a molecular weight of 750 − 850 kD regulates the assembly and speciﬁes the lengths of the actin ﬁlaments [79]. Nebulin can be divided in three parts:

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Subsarcolemmal cisternae

Myofilamente

Z disk

Mitochondrion

Sarcoplasmic reticulum

Transversal tubule

Diadic space

Fig. 6.7. Schematic diagram of intracellular structures of mammalian cardiac muscle (adapted from [77]). Myosin filaments

Actin filaments

Z disk

Z disk Nebulin

Titin

Fig. 6.8. Schematic view of sarcomere. The sarcomere includes myoﬁlaments, titin and nebulin. Myoﬁlaments are composed of actin and myosin ﬁlaments. The actin ﬁlaments, titin and nebulin are attached to the Z disks.

• • •

Central part with a molecular weight of ≈ 700 kD. It associates with actin over the whole ﬁlament. N-terminal part. It extends form the central part to the ends of the actin ﬁlament in the sarcomere’s center. C-terminal part with a molecular weight of ≈ 80 kD. It integrates with the Z-disk.

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127

(b)

(c) Fig. 6.9. Molecular structure of tropomyosin (data from [81]). The tropomyosin of species gallus gallus (chicken) is visualized from perpendicular to the ﬁlaments. The protein is composed of diﬀerent amino acids, which are indicated by spheres. Diﬀerent techniques are used for the visualization: (a) Hierarchic visualization, showing components dependent on the rank, (b) secondary structure, whereby only protein backbones are drawn, side chains and bases are oﬀ, (c) space ﬁlling, whereby the amino acids are shown as spheres.

These proteins provide - in conjuction with several further proteins - mechanical support for the myoﬁlaments and inﬂuence the passive mechanical properties of myocytes [80]. Myoﬁlaments. The myoﬁlaments are composed of so-called actin (thin) and myosin (thick) ﬁlaments [68] (Fig. 6.8). The thin ﬁlaments lead from the Z disks approximately 1 µm towards the center of the sarcomere. The backbone of thin ﬁlaments is built up by two actin helices twined with concatenated long, ﬂexible, coiled coil molecules, i.e. tropomyosin (Fig. 6.9). Tropomyosin is a rope-like protein with a length of ≈ 42 nm. A homo- and a heterodimer type of tropomyosin exist. Monomer actin (G-actin) is a plate-shaped protein with a molecular weight of 42 kD and a size of approximately 5, 5 nm x 5, 5 nm x 3, 5 nm. G-actin polymerizes forming helices (F-actin). In human six genes code the isoforms of actin, which is the most abundant protein in eukaryotic cells. Tropomyosin has a length of 40 nm and possesses seven actin binding sites. One binding site is found for troponin. Commonly, seven actin molecules and one troponin molecule are attached to each tropomyosin. Troponin consists of three components: troponin T, troponin I, and troponin C. Troponin T is connected to the tropomyosin and the two further components. Troponin I inhibits interactions between actin and myosin. Troponin C is of importance for the initiation of mechanical contraction by binding of calcium.

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Fig. 6.10. Molecular structure of myosin II (data from [83]). The protein can be divided in a head, neck and tail region. The chains of the head and neck region of species gallus gallus are visualized.

head

neck tail

head

Fig. 6.11. Schematic view of myosin II. The protein myosin can be decomposed into two head, neck and tail regions.

The actin-tropomyosin arrangement is inﬂuenced by the binding of calcium to troponin. The arrangement of thin ﬁlaments is thought to be maintained by the protein nebulin [76]. The thick ﬁlaments have a length of approximately 1.6 µm and are centered in the sarcomere. They are arranged parallel to and between the thin ﬁlaments. The thick ﬁlament is composed primarily of the myosin molecule, which has a length of approximately 160 nm. A few hundreds of myosin molecules per thick ﬁlament are reported [82]. Thirteen types of myosin are distinguished by genome analysis, e.g. myosin I, myosin II, and myosin V, which are found in eukaryotic cells. All kinds of myosin can be subdivided into a head, neck and tail region (Fig. 6.11 and 6.10). Component of the thick ﬁlaments and therefore responsible for the contraction of cardiac, skeletal and smooth muscle is myosin II. Myosin II includes two pear-shaped heads showing an ATP and an actin binding site. The neck region with a length of circa 8 nm connects the heads with the two tails. The tails are coiled coil molecules and form the

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129

(b)

Fig. 6.12. Schematic view of single myosin and actin-myosin ﬁlaments (adapted from [84]). (a) The myosin head and tail is shown in red, its light chains in orange and yellow. (b) The myosin ﬁlament is central and surrounded by actin ﬁlaments. The actin ﬁlaments consist of F-actin, tropomyosin and troponin.

main axis of the thick ﬁlaments. The thick ﬁlaments are bound via the protein titin to the Z disks [76]. Sarcoplasmic reticulum. The sarcomeres are enfolded by the sarcoplasmic reticulum, which can be divided into the longitudinal tubuli forming a mesh between the Z disks and the terminal cisternae (junctional sarcoplasmic reticulum, subsarcolemmal cisternae) located at the Z disks (Fig. 6.7). The space between the sarcolemma and the terminal cisternae is referred to as diadic space for cardiac myocytes and as triadic space for skeletal myocytes. The volume occupied by the terminal cisternae and by the system of longitudinal tubuli is commonly smaller in cardiac than in skeletal myocytes [68]. The volume ratios of the terminal cisternae and the system of longitudinal tubuli are in the range of 0.03 − 0.5 % and 0.62 − 9.47 %, respectively, for mammalian myocytes of diﬀerent species [68]. The sarcoplasmic reticulum is enclosed by a membrane containing calcium, potassium, chlorine and hydrogen ionic channel proteins as well as calcium pump proteins. 10-200 calcium release channels (ryanodine receptors) are thought to form a cluster of diameters up to 200 nm. This cluster is located where the junctional sarcoplasmic reticulum comes into close contact with the sarcolemma [85] and sarcolemmal L-type calcium channels. In rabbit ventricular myocytes it was demonstrated that more than one sarcolemmal L-type calcium channels is associated to each cluster of release channels [86]. Calcium release channels are regulated by various proteins, e.g. calmodulin, FK-506 binding protein, and sorcin. The other ionic channel and pump proteins are distributed throughout the membrane. The protein calsequestrin with high aﬃnity and high capacity for calcium is found inside, primarily in the terminal cisternae. Sarcolemmal Ionic Channels, Exchangers and Pumps. The sarcolemma includes pore forming proteins, i.e. ionic channels, exchangers and pumps, which are speciﬁed by the ion type, which can pass through, by their speciﬁcity for these ions, and by their opening and closing characteristics (Sect. 7.2.1). Exemplary ionic channels are the sodium, potassium, calcium, and chlorine channels with the diﬀerent variants. The ionic channels, exchangers and pumps are

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dynamically expressed by activation of their corresponding genes due to aging and physiological parameters. Sodium channels are found in the cell membrane of all excitable tissue of vertebrates, e.g. myocytes and neurons, but not in monads [87]. In myocytes they are located primarily on the surface sarcolemma and not in the transversal tubuli. The mammalian genome includes minimally six voltage-dependent sodium channel genes. Three of these genes are found in humans. The density of sodium channels ranges from 100,000 per ventricular myocyte to 1,000,000 per Purkinje ﬁber. A molecular weight of 240 kD is reported [88]. The domain of the channels is not restricted to the membrane region, but they extend signiﬁcantly in the intra- and extracellular space. Ionic channels in the sarcolemma with a high speciﬁcity for calcium are divided into two types, discriminated by their electrophysiological behavior: L- and T-type [89]. L-type calcium channels (dihydropyridines receptors) are expressed in all cardiac myocytes. The density of L-type channels is approximately 30,000 per ventricular myocyte. L-type calcium channels consist of 5 subunits with a summary molecular weight of 410 kD. The density in the transversal tubuli is four times higher than on the surface sarcolemma. Ttype channels are found in atrial, nodal, Purkinje, and smooth muscle cells. In ventricular myocytes T-type channels are expressed at low or undetectable levels [90]. Potassium channels in the sarcolemma show a large variety [91]. Twenty diﬀerent variants are known only for voltage dependent channels. The molecular structure of a potassium channel is illustrated in Fig. 6.13. Furthermore, the sarcolemma includes ion exchanger proteins, e.g. the NaCa exchangers, which are located at the openings of the transversal tubuli [92]. A Na-Ca exchanger consists of approximately 1000 amino acids with an approximate weight of 120 kD. An average density of up to 500 exchangers/µm2 is reported. The mammalian genome includes minimally three Na-Ca exchanger genes. Pumps in the sarcolemma are e.g. the Na-K and calcium pump, which consume ATP to transport ions. The Na-K pumps of myocytes are primarily located on the surface sarcolemma and not in the transversal tubuli. The calcium pump protein has a weight of 138 kD [68]. Cytoskeleton. The cytoskeleton pervades the intracellular space anchoring the myoﬁbrils, nucleus, mitochondria, and sarcolemma. The cytoskeleton consists primarily of microﬁlaments, microtubules, and intermediate ﬁlaments [76]. The microﬁlaments are built up of G-actin, which polymerizes as helix-shaped F-actin. The microtubules are composed of the protein tubulin, the intermediate ﬁlaments of lamin and desmin. The desmin containing intermediate ﬁlaments are linked to the desmosomes of the intercalated disks.

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(b)

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(d)

(e)

(f)

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Fig. 6.13. Molecular structure of potassium channel (data from [81]). The so-called Kcsa potassium channel of the bacterium Streptomyces Lividans consists of four identical domains forming a pore. The channel is visualized (upper row) from perpendicular to the ion channel and (lower row) from extracellular in direction of the channel. The channel protein is composed of diﬀerent amino acids, which are color-coded. Diﬀerent techniques are used for the visualization: (a,d) Hierarchic visualization, showing components dependent on the rank, (b,e) secondary structure, whereby only protein backbones are drawn, side chains and bases are oﬀ, (c,f) space ﬁlling, whereby the amino acids are shown as spheres. The central located, large sphere indicates a potassium ion inside of the channel.

6.2.2 Gap Junctions The intracellular space of adjacent myocytes is coupled by gap junctions (nexus), which are located by bundle at the intercalated disks [94, 95] (Fig. 6.14). Intercalated disks are disk shaped segments, which mechanically couple cells [96]. Mainly, the disks can be found at or near to the ends of myocytes [97] (Fig. 6.2). A gap junction is cylinder or barrel shaped with a diameter of 1.5 − 2.0 nm and a length of approximately 2 − 12 nm. A molecule of atomic weight of up to 1 kD can pass through the gap junction [98, 99], e.g. nutrients, metabolites, and ions.

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Fig. 6.14. Microscopic section of 1 µm thickness in canine left ventricular myocardium (from [93]). The arrangement of myocytes and the distribution of gap junctions are illustrated. The arrows depict intercalated disks, where the gap junctions are located by bundle. Longitudinal gap junctions are marked by horizontal arrows, transversal gap junctions by vertical arrows.

A gap junction is built up by two hemi-channels, so-called connexons, piercing the sarcolemma of the involved cells. The connexons are formed by six integral membrane proteins, so-called connexins. More than one dozen of connexins have been cloned, which are named by their atomic weight ranging from 25 to 50 kD. The permeability of gap junctions is dependent on their assembly. The most abundant connexin in the mammalian myocardium is connexin43, which is also expressed in ovary, uterus, kidney, and lens epithelium. Connexin43 was found to be not expressed in atrioventricular node and bundle branches of rats [100]. Further members of the connexin family expressed in the heart are: connexin37, connexin40, and connexin45. Connexin45 is found abundantly in embryonic hearts. In adult hearts connexin45 is expressed mostly in atrial, His bundle and Purkinje cells, but only in a small amount in the ventricular cells. Connexin32 is found in liver, stomach, kidney, and brain, but not in any part of the heart [100]. A half-life of ≈ 1.3 h was determined for cardiac connexin43 [101]. Downregulation of connexin43 and up-regulation of connexin45 is demonstrated in heart failure [102]. In ischemic cardiomyopathy down-regulation of connexin43 and up-regulation of connexin40 is reported. In the myocardium each myocyte is coupled by gap junctions non-uniformly with other myocytes, e.g. in canine a myocyte is coupled with 9.1 ± 2.2 myocytes [103]. A distinction can be made between longitudinal and transversal gap junctions. A longitudinal gap junction is oriented in approximately the same direction as the ﬁrst principal axis of adjacent myocytes, a transversal gap junction is oriented perpendicular thereto. The density and distribution of orientations of gap junctions diﬀer depending on the tissue, e.g. the den-

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Fig. 6.15. Cardiac collagen network in the rabbit left ventricle (from [70]). The interconnection between a myocyte (M) and capillary (C) is visualized with scanning electron micrography. The picture shows an area with a width of 1.3 µm and a height of 0.95 µm.

(a)

(b)

(c)

Fig. 6.16. Molecular structure of collagen (data from [81]). The protein collagen consists of three chains forming a triple helix. Each chain is over 1400 amino acids long, only 20 are shown. Diﬀerent techniques are used for the visualization: (a) Hierarchic visualization, showing components dependent on the rank, (b) secondary structure, whereby only protein backbones are drawn, side chains and bases are oﬀ, (c) space ﬁlling, whereby the amino acids are shown as spheres.

sity in the sinus and atrioventricular node is smaller than in the ventricular myocardium. The average density of gap junctions in longitudinal orientation is larger than in transversal orientation [103]. The average length of longitudinal gap junctions is smaller than the length of transversal gap junctions. Both circumstances lead to a macroscopic anisotropic, electrical intracellular conductivity. 6.2.3 Connective Tissue Structures The myocardium is pervaded and surrounded by a mesh of extracellular collagen ﬁbers, which are composed of a multitude of collagen ﬁbrils. Collagen takes 2 − 5 % of the weight of the heart. Collagen is a protein consisting of over 1400 amino acids (Fig. 6.16) and is synthesized by the cardiac ﬁbroblasts. Furthermore, ﬁbers of elastin draw through the myocardium. The content and the structure of the connective tissue are dependent on age, pathologies and species.

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Both, collagen and elastin are ﬁbrous proteins of the extracellular matrix, which is a determinant for the viscoelastic behavior of the myocardium. The network serves for the mechanical coupling of the myocytes, capillaries, and lymphatic vessels (Fig. 6.15). Collagen ﬁbrils have a thickness ranging from 30 to 70 nm [70]. The ﬁber thickness is in physiologic cases between 120 and 150 nm. An increase up to 250 − 300 nm is possible in pathophysiologic cases, e.g. in case of hypertrophy, hypertension and myocardial infarction [104, 105]. The density of collagen ﬁbers is depending on the tissue. E.g. a small density can be found in papillary muscles and trabeculae, a high density in the left ventricular myocardium, the endo- and epicardium [70, 106]. The connective tissue can be divided, according to the classiﬁcation in skeletal muscles, into three diﬀerent groups: •

• •

Endomysium. The collagenous network surrounding a single myocyte as well as interconnecting a myocyte with neighboring myocytes or capillaries is referred to as endomysium. Often the connections are starting near to the Z disks perpendicular to the membrane [107]. The length of the connections is in the range 120 − 150 nm. Epimysium. A layer of collagen and elastin ﬁbers forming the epimysium covers the subendo- and subepicardial myocardium. The layers are named endocardium and epicardium, respectively. Perimysium. Bundles of perimysal collagen ﬁbers couple the endomysium with the epimysium and envelop groups of myocytes. The grouping of myocytes resulting from the enveloping leads to a lamination of the myocardium. The perimysal collagen ﬁbers connecting a myocyte inside of a group with a myocyte outside are less frequently occurring. Furthermore, a larger distance can be ascertained. The ﬁber length is depending on the location, e.g. in canine a ﬁber length of 31 ± 9 µm can be found in subendocardial ventricular myocardium, a length of 27 ± 10 µm in the midwall and of 17 ± 3 µm in the subepicardial myocardium [108]. Perimysial collagen ﬁbers showed in a study of ventricular trabeculae of rat to be wavy in a two-dimensional manner rather than coiled [109]. The ﬁbers straighten by increased strain. Extension of ﬁbers is limited at sarcomere length of 2.3 ± 0.04 µm.

6.3 Macroscopic Structures 6.3.1 Ventricles The mammalian heart includes two ventricles, where the atria and diﬀerent blood vessels are attached (Fig. 6.17 and 6.18). The right and in particular the left ventricle are the anatomically and functionally dominant structures of the heart. Each ventricle consists of walls with openings, so-called ostia,

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Fig. 6.17. Historical outline of the opened human heart with the atria and ventricles (from [65]). Aortic ostia

Pulmonary ostia

Left ventricle

Mitral ostia

Right ventricle

Tricuspid ostia

Septum

Fig. 6.18. Superior view on ventricles and ostia of pig heart.

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surrounding a cavity [110]. The walls are primarily built up of myocardium enclosed by the epicardium and endocardium. The weight, shape and size of the ventricles and the topology of their internal components is depending on the species. Furthermore, diﬀerences can be found e.g. addicted to sex, age, and pathologies. The walls and the cavity of a right ventricle are commonly smaller than a left resulting from the diﬀerence in power requirements. The ostia are the major points of attachment. The left ventricle has two ostia, the mitral and the aortic ostium. Also, the right ventricle has two ostia, the tricuspid and the pulmonary ostium. The ostia are named by the attributed valve. Attached to the wall are intracaval structures, i.e. the papillary muscles and trabeculae. The papillary muscles can be compared with pillars basing with one end in the wall. At the other end they are connected with tendons leading to the atrioventricular valves. In humans three papillary muscles can be found in the right ventricle and two in the left. The trabeculae are composed of branching small muscle bundles, which pervade the ventricular cavities similar to a mesh. In the working myocardium of the ventricles an oriented and laminated structure can be found [111, 112, 113, 114, 108, 115]. The orientation and lamination of the myocytes should be interpreted with a macroscopic, averaged perspective, neglecting branching structures and irregular cellular shapes. This perspective is often taken for cardiac modeling, e.g. continuum modeling of electrophysiology and structure mechanics taking anisotropy into account. The orientation and lamination can be determined by histological studies of surfaces of tissue sections and by recently developed imaging techniques (Sect. 6.4.4). The orientation of myocytes in the ventricular wall is dependent on the depth [111, 112]. The orientation can be quantitatively described by the helix angle of a ﬁber path through the myocardium parallel to the local epicardium. Alternatively, the orientation is determined by angles in a local coordinate system in surface layers of ellipsoids approximating the ventricles. Hereby, the orthogonal local coordinate system for the assignment of angles at a given point is constructed by a vector parallel to the principal axis of the ellipsoid and a second vector, orthogonal to the principal axis and the surface normal. An angle of ± 90◦ denotes an orientation towards the base of the heart, an angle of 0◦ stands for an equatorial orientation. An angle of approximately −90◦ was measured for the orientation of myocytes in the plane of the left ventricular epicardial myocardium of pig and canine in systole, an angle of 90◦ for the endocardial myocardium. In human left ventricular myocardium an angle of −75◦ was measured epicardially, 70◦ endocardially. In the right ventricular myocardium of guinea pig an angle of −45◦ and 90◦ was measured epicardially and endocardially, respectively. An angle of 0◦ was reported in the midwall of all these species. Commonly, a smooth transition of the angle from epicardium to endocardium is measured.

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Fig. 6.19. Crista terminalis and musculi pectinati in opened right atrium of pig.

In the apex cordis the orientation leads to two vortices, one for each ventricle. The dorsal and anterior interventricular sulcus show a bifurcation of myocardial ﬁbers. In the papillary muscles a longitudinal orientation of myocytes was found, i.e. in direction of the ﬁrst principal axis. The lamination of the myocardium results from the grouping of myocytes. The grouping is caused by the enveloping of groups of myocytes by the perimysal collagenous network. In canine the thickness of a layer amounts to 4 ± 2 myocytes [108]. No signiﬁcant variation is found through the wall depth. In the papillary muscles a lamination was nowhere observed in anatomical studies. 6.3.2 Atria The mammalian heart includes two atria, which are attached above the ventricles and are connected with blood vessels of diﬀerent types (Fig. 6.17 and 6.19). Between the atria and the ventricles resides the atrioventricular septum, which consists of ﬁbrous connective tissue. The atrioventricular septum is punctuated only at the His bundle. The cavities of the atria and ventricles are separated by the atrioventricular valves. An atrium can be divided into an ear shaped, conical part, the auriculum, and a further part, the atrium proper. The two atria are separated by the atrial septum, which includes the fossa ovalis. The fossa ovalis consists of ﬁbrous tissue and is formed post natal by closing of the foramen ovalis, which

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acts before as an open connection for the blood ﬂow between the right and left atrial cavity. The atrial walls consist primarily of muscle bundles, which are arranged in a complex manner. The orientation of the myocytes follows the local orientation of the muscle bundles. The averaged thickness of the bundles is larger in the left atrium, but some bundles of the right atrium are the strongest. The dominant muscle structure, the crista terminalis or right atrium terminal crest, can be found subendocardial of the right atrium. In humans a thickness of 5 − 8 mm was measured. The walls measure about 2 mm. The crista terminalis forms a bow starting at the oriﬁce of the superior vena cava near the sinus node. Attached to the crista terminalis are the musculi pectinati, which branch oﬀ nearly perpendicular and progress like a fan. In humans the area of maximal thickness in the left atrium is the frontal wall [116]. A structure similar to the crista terminalis is not found in the left atrium. Furthermore, the musculi pectinati of the left atrium are smaller developed. The interatrial bundle, the so-called Bachmann bundle, connects the two atria as strong muscle structure with a subepicardial and anterior course [117]. Its root can be found near to the sinus node. In the left atrium the bundle surrounds the auriculum and ends up in the musculi pectinati [118]. The Bachmann bundle plays an important role in the interatrial electrical excitation propagation. Circumferential muscle bundles can be found at the ventricular ostia. The orientation of myocytes in the mammal atria was examined in a large number of anatomical studies [117, 118, 110, 119, 120, 116, 121]. The results show a relatively species independent arrangement, reﬂecting the conﬁguration of the muscle bundles: • • • • •

circumferential orientation in the mitral and tricuspidal ostia longitudinal orientation in the vena cava superior and inferior longitudinal orientation in the crista terminalis circumferential orientation at the atriocaval junctions of the pulmonary veins longitudinal orientation of the Bachmann bundle

A lamination of the atrial myocardium similar to the ventricular lamination is not reported in anatomical studies. The triangle of Koch is a region of high importance for the clinical atrial anatomy. The borders of the triangle are the tendons of Todaro, the septal leaf of the tricuspid valve and the opening of the sinus coronarius. The tendons of Todaro are commonly found between the eustachian and thebesian valve. Because of signiﬁcant individual variations of the tendons of Todaro, i.e. absent or multiple, the concept of triangle of Koch as a clinical landmark is subject of recent controversy [122, 123].

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6.3.3 Blood Vessels The blood vessels attached to the heart are named by the direction of the transported blood. Vessels with a blood ﬂow in direction to the heart are called veins; those with a ﬂow away from the heart are called arteries. In the atria and ventricles blood is collected and pumped. The atria receive blood from the veins, which is then transferred to the ventricles. The ventricles pump the blood in the arteries. The right atrium is attached to the vena cava superior and inferior. Furthermore, the sinus coronarius and the thebesian veins of the vascular system of the heart end in the right atrium. Attached to the left atrium are the venae pulmonalis. In humans commonly four veins are found. The right ventricle transports blood through the arteria pulmonalis to the lungs. The left ventricle is attached to the aorta to transfer the blood in the body. The anatomy of the cardiac vessel system is subject to species dependent and inter individual variations. In humans the arteria coronaria sinister and dexter start at the root of the aorta. The coronary arteries supply the atrial and ventricular walls with blood. Commonly, the arteria coronaria dexter transports blood to the right ventricle, in septal regions and the left ventricular dorsal wall. The other regions are supplied by the arteria coronaria sinister. 6.3.4 Valves Valves are found in diﬀerent areas of the heart. The valves control the blood transport by opening and closing. Variations of their attachment and their conﬁguration are found depending on species and inter individually. The valves are primarily built up by collagen. The atrioventricular valves are located between the atrium and ventricle. They are attached through the chordae tendinae with papillary muscles. The free borders of the leaﬂets atrioventricular valves are directed into the ventricles. The valve between the left atrium and ventricle is named mitral or bicuspid valve, which consists in humans of two leaﬂets, anterior and posterior. The tricuspid valve is located between the right atrium and ventricle. In humans this valve consists of three leaﬂets, antero-superior, septal and inferior. The aortic valve is located in the aorta near to the left ventricular aortic ostium. In humans three leaﬂets are distinguished: posterior, anterior left and right. The pulmonary valve is attached in the pulmonary artery near to the right ventricular pulmonary ostium, which shows as the aortic valve three leaﬂets in humans: posterior, anterior left and right. The aortic and pulmonary valve are semilunatic shaped. The free borders of their leaﬂets are directed into the vessel. Furthermore, valves in the right atrium are known, which however are not present in all species and individuums. In humans the eustachian and

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thebesian valve are reported. The eustachian valve is located between the vena cava inferior and the right atrium over spanning approximately half of the vein. The thebesian valve, which is also labeled valvula foraminis ovalis, is found between the sinus coronarius and the right atrium. 6.3.5 System of Excitation Conduction and Initiation The cardiac system of excitation conduction and initiation consists of specialized myocytes. The specialization concerns the cellular anatomy, the intercellular coupling and the cellular electrophysiology. The sinus node as the initiator of the physiologic electrical excitation is found in the human heart at the oriﬁce of the superior vena cava [124]. Variations of position, shape and size are found in humans, among other things the node size is depending on the heart size. A ﬂat, half oval and beet shape is reported. An averaged length of 30 mm, width of 3 mm and thickness of 2 mm is measured [125]. In the rabbit, the node is located in the posterior right atrium, medial to the crista terminals [72]. A length of 4 − 5 mm, a width of 1 − 2 mm and a thickness of 200 µm is reported. A similar position of the sinus node is found in dogs. A length of 15 − 20 mm, a width of 5 − 7 mm and a thickness of 200 µm is observed. The sinus node consists of interweaving cells, which is obvious e.g. in photomicrographs. Two principally distinct types of myocytes were identiﬁed in the sinus node, i.e. spider and spindle shaped cells (Sect. 6.2.1). The myocytes are packed in a matrix of connective tissue, which takes 40 to 50 % of the volume. Furthermore, the sinus node is richly innervated. The myocytes of the sinus node are connected via gap junctions with the myocytes of the atrial working myocardium. The crista terminalis and the Bachmann bundle serve as conduction pathways to the atrioventricular node and left atrium, respectively [121]. The atrioventricular node is located in the right atrium and at the interatrial septum near to the opening of the sinus coronarius. In humans the apex of the triangle of Koch is used as a landmark. Three diﬀerent types of cells were found in the atrioventricular node: transitional cells as well as in the distal segment located mid-nodal and lower nodal cells [127]. The histologically motivated distinction is further conﬁrmed by electrophysiological diﬀerences. The atrioventricular node can be divided into an atrial and distal segment. The atrial part of the node is attached via transitional cells with the atrial myocardium. The distal part is surrounded by ﬁbrous tissue and descends in the His bundle. The distal nodal cells are continuous with the cells of the His bundle. The His bundle is insulated by sheaths of ﬁbrous tissue and penetrates the heart skeleton between the atria and ventricles. The His bundle is the root of the Tawara bundle branches, which subdivides ﬁrst into the left and right bundle branch located in the left and right subepicardial myocardium,

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Fig. 6.20. Historical photography of an opened left ventricle from cow with the valves, papillary muscles, and the system of excitation conduction (from [126]). The system is colored with blue ink.

respectively [128, 121]. The branching takes place several fold (Fig. 6.20) resulting in a fan like distribution. The branches are isolated from the working myocardium by ﬁbrous tissue. The ends of the branches are connected with the medial and apical subendocardial located Purkinje cells, which are linked with myocytes from the working myocardium by gap junctions. In humans the right Tawara bundle branch penetrates in the ventricular septum dividing commonly in three branches, which progress in the right septum as well as in the right ventricular latero-ventral and dorsal papillary muscles. The left branch progresses primarily endocardially in the left ventricular, frontal and dorsal papillary muscles. Some ﬁbers pass through the left cavity. 6.3.6 Nervous System The heart is innervated by sympathetic and parasympathetic nerves stemming from the truncus sympathicus and nervus vagus, respectively [125]. The cardiac nervous structures include eﬀerent and aﬀerent ﬁbers as well as ganglions. Partly, the nerves are located extracardial, e.g. at the superﬁcial coronary arteries. Furthermore, nerves are found intracardial, e.g. in the myocardium,

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at the coronary arteries in the myocardium, in the endocardium and the valves. Eﬀerent nerves inﬂuence large parts of the cardiac conduction system, i.e. the sinus and atrioventricular node, His bundle and Tawara bundle branches [129]. Regional diﬀerences of the innervation are reported, e.g. the innervation in the central part of the sinus node and in the transitional part of the atrioventricular node is signiﬁcantly larger than in the peripheral parts and in the compact region, respectively [129]. Aﬀerent ﬁbers transport information concerning ischemia and pressure. Normally, the ﬁbers are found in contiguity with the eﬀerent ﬁbers of the same root. Fibers responsible for detecting ischemia are reported primarily in the sympathetic nerves. Fibers with the task of measuring pressure are located near to the aorta, the Purkinje ﬁbers, the right atrium and the left ventricle.

6.4 Modeling of Anatomy 6.4.1 Overview Detailed modeling of the macroscopic cardiac anatomy is commonly performed on base of medical imaging systems, which are used in clinical routine and research. The resulting data is transformed with methods of digital image processing to obtain a representation of anatomy, which is suitable for the target application. Diﬀerent levels of spatial description can be distinguished ranging from analytical, comprehensive approaches to detailed descriptions on base of millions of volume elements. In the next sections exemplary analytical models are described, an introduction to the modeling sources is given and some models created by digital image processing are demonstrated. 6.4.2 Analytical models Model of left ventricle. An example of analytical description is the approximation of left ventricle by crop of two confocal √ truncated ellipsoids [130]. The ellipsoid’s focus length d is deﬁned as d = a2 − b2 with the ellipsoid’s minor radius b and major radius a. The truncation of an ellipsoid is quantiﬁed by a truncation factor fb speciﬁed by fb = lbe /lea with the distance from basal plane to equator plane lab and the distances from equator plane to apex lea . Commonly, a truncation factor fb of 0.5 is chosen. This analytical approach can be transformed to a description on base of volume elements (Fig. 6.21). A description of the macroscopic orientation and lamination of myocytes can be added taken into account results from anatomical studies (sect. 6.3.1).

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(b)

Fig. 6.21. Model of left ventricular anatomy by crop of two confocal truncated ellipsoids. The (a) full and (b) sectioned model is shown in wire frame representation. The model consists of 30 x 30 x 38 cubic elements.

Fig. 6.22. Cylinder model of papillary muscle in wire frame representation. Surface and further points are shown, which were localized using a computer-controlled micromanipulator. The model is created based on points at the surface of the muscle using numerical minimization techniques.

Biventricular model. Analytical biventricular models can be created by extension of the analytical left ventricular model in such a manner that a description of the right ventricle is added [131]. The geometry of the right ventricular model is approximated by crop of two confocal truncated ellipsoids, which are then cropped with the left ventricular model. Similar strategies and parameters for determining the orientation of myocytes in the two ventricles can be applied as in the left ventricular model.

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Fig. 6.23. Exemplary cryosection of the Visible Female data set with a transversal view of the thoracic region. The section was performed after freezing of the corpse. The blue gel was used to ﬁx the body and is furthermore necessary for the cryosection to image only in plane information.

Model of papillary muscle. The anatomy of a papillary muscle can be approximated by a cylinder [131]. Parameters of the cylinder were determined by surface points. These points were acquired with a computer-controlled micro-manipulator. The parameterization of the cylinder was performed by numerical minimization of an error function, which uses distances between the cylinder’s surface and the given points. The model was extended by incorporation of macroscopic ﬁber orientation. In accordance to anatomical studies of papillary muscles a ﬁber orientation parallel to the muscle’s ﬁrst principal axis was included. A lamination was neglected, because it was not observed in anatomical studies. This analytical description was transformed to a description on base of volume elements (Fig. 6.22). 6.4.3 Imaging Systems and Data Sources Commonly, ultrasonic (US), magnetic resonance (MRT), and computed tomography (CT) are used for the imaging of the heart. These imaging systems use the tissue dependent variations of the acoustic impedance leading to reﬂection of ultrasonic waves and of their scattering, of the absorption of X-rays, and of the resonance behavior of nuclei to get information of the tissue distribution inside a body. An alternative data source for the macroscopic modeling of human anatomy provides the Visible Human Project of the National Library of Medicine,

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Bethesda, Maryland (USA) [33]. The ongoing project started 1990 and aims at the computerized representation of human bodies, which should be made available as standard for the medical and technical research. In a ﬁrst approach selected corpses were imaged by CT and MRT as well as by speciﬁc photographic techniques. The selection of corpses was made by diﬀerent criteria, e.g. normal height and weight, no pathologic changes in anatomy, and age between 20 and 60. The Visible Human Project forms a base of the MEET Man Project (Models for Simulation of Electromagnetic, Elastomechanic and Thermic Behavior of Man) of the Institut f¨ ur Biomedizinische Technik, Universit¨ at Karlsruhe (TH) [26, 132]. The project aims at the generation of anatomical and physical models of the human body suitable for numerical calculation of physical ﬁelds. A focus of the MEET Man project is the computerized reconstruction of the anatomy, electrophysiology and mechanics of the human heart. The following sections present some models of the cardiac anatomy on base of MRT and from the data of the Visible Human Project. Special focus was taken on the applicability of the models in the area of numerical ﬁeld calculation. 6.4.4 Modeling of Orientation and Lamination of Myocytes In the following sections the modeling of the orientation and lamination of myocytes is restricted to a macroscopic, averaged perspective onto the cellular geometry. This perspective is often taken in the modeling of complex, inhomogeneous structures, e.g. continuum modeling of electrophysiology and structure mechanics, and allows a simpliﬁed treatment, especially, if the microscopic inhomogeneity of attributes can be neglected. In the macroscopic perspective the orientation and lamination of myocytes is deﬁned by averaging and interpolation. The local attributes can be viewed as averaged macroscopic quantities, e.g. the spatial averaged principal axis of the myocytes and orientations of the lamination. The strategies for the modeling of the orientation and lamination of myocytes can be divided into two groups. The ﬁrst group includes methods, which base on the measurement of the attributes, i.e. histological studies of surfaces of tissue sections and recently developed imaging techniques. The second group consists of rule-based methods, which apply rules constructed from anatomical studies. A representative of the ﬁrst group is the diﬀusion weighted magnetic resonance tomography, which allows a measurement of the macroscopic, averaged orientation of myocytes in vitro [133, 134, 135, 136] and in vivo [137, 138, 139]. Hereby, the assignment of the orientation of myocytes is based on the assumption, that the diﬀusion of water molecules by Brownian motion is larger in the direction of the cells than transversal to it. The cellular membrane is considered as a barrier, which restricts diﬀusion. The ratio of transversal to overall membrane area is in particular for myocytes from the working myocardium

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signiﬁcantly larger than the ratio of longitudinal to overall membrane area resulting from the cellular shape (Fig. 6.2). The assumption was veriﬁed, e.g. by comparison with histological measurements of paraﬃn-embedded and sectioned probes of rabbit left ventricles [135, 140] and right ventricular free wall of mongrel dog [134]. Hereby, for the orientations a RMS diﬀerence of 5.3◦ and an averaged diﬀerence of −2.3◦ ± 0.98◦ was reported in [135] and [134], respectively. Diﬀerent rule-based strategies can be used to assign the myocyte orientation and lamination. A strategy consists of a manual assignment of the attributes by a human expert at speciﬁc points [141, 142]. A further strategy uses knowledge delivered by anatomical studies (sections 6.3.1 and 6.3.2) [143, 144, 145]. The knowledge is used in computer programs and allows the automatic assignment of attributes. In both strategies an interpolation of the orientation and lamination can follow in order to determine the attributes in the remaining myocardial volume. 6.4.5 Models from the Visible Human Project Data of the Visible Human Project. The corpses of a 38-year-old man and a 59-year-old woman form the basis of the Visible Human Project in conjunction with speciﬁc processing and imaging techniques. The male data set is available since 1994, the female since 1996, each of them after more than one year of processing. The processing of the corpses was structured as follows: • • • • • • •

Conservation Imaging with MRT Fixation Imaging with CT Freezing Imaging with CT (only Visible Man) Cryosection

The conservation of a corpse was performed 1.5 h post mortem by injection of 19 l of 1 % formalin and anticoagulant into the right femoral artery and dorsum of each forearm. The conservation delayed a deterioration of tissue, which was reported by earlier studies especially for willed corpses from persons, who were subjected to court ordered lethal injection. Then the cadaver underwent MRT with an in clinical routine used scanner. Imaging with CT was performed after a ﬁxation of the corpse by a foaming agent. The imaging took place with a conventional CT scanner and in the non-frozen state of the corpse, because pilot studies showed minor contrast in the frozen state. The freezing of the corpse was achieved in two days as reported by earlier studies. In the frozen state a CT imaging and the cryosection were performed. The cryosection images are the essential component of the Visible Human Project. They were created by iterative mill cutting of frozen corpses and

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Fig. 6.24. Clipping of a cryosection from the Visible Female data set with a transversal view of the cardiac region. All atrial and ventricular cavities are visible. Parts of the lungs and fat are surrounding the heart.

photographing of the uncovered area (Fig. 6.23). Special attention was cared for air ﬁlled cavities. The cavities were ﬁlled by blue colored gel, to restrict the view to plane surface of the uncovered area. The cryosection was performed by a cryomacrotom, which was developed at the Department of Anatomy at the University of Colorado Medical School. The cryomacrotom consists of computer controlled milling cutter and an adjustable table, on which the corpse was mounted. The photographing was done digitally and analog. Hereby, the digital images were used after image processing for the production of the digital database. Each cryosection shows a transversal view onto the uncovered area of a corpse and consists of 2048 x 1280 pixels with 24 bit color information and a pixel size of 0.33 mm x 0.33 mm. Between the cryosections a distance of 1 mm and 0.33 mm was selected for the Visible Man and Visible Female data set leading to 1871 and 5189 images, respectively. Preprocessing of Digital Images. The stack of two dimensional cryosections and CT scans from the Visible Man and Visible Female data set was preprocessed to obtain three dimensional data sets [146, 147, 148, 149]. Therefore, the images (Fig. 6.24) were converted and combined with homogeneous transformations. Missing areas in the cryosection data sets were interpolated using radial basis functions [148]. The CT scans were registered with the

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(a)

(b)

(c)

(d)

(e)

(f)

Fig. 6.25. Model of human heart from (a) left, (b) dorsal left, (c) dorsal right, (d) frontal, (e) right, and (f) dorsal caudal (from [37]). The model was constructed on base of the Visible Man data set with techniques of digital image processing.

cryosection images by point-based methods. The result of the preprocessing were four data sets representing the red, green, and blue channel of the cryosection images as well as the Hounsﬁeld values of the CT. Classiﬁcation of Tissues. The three dimensional data sets were segmented and classiﬁed using diﬀerent techniques of digital image processing, e.g. interactively deformable meshes, thresholding, region growing, and morphological operators [150, 144, 37]. The boundaries of the atria, ventricles, aorta and truncus pulmonalis were constructed using interactively deformable twodimensional splines [150] and triangle meshes [58]. The initial meshes were manually placed, oriented, scaled and afterwards deformed. The boundaries of the atria and ventricles served as a mask for thresholding in the 3D-data sets to classify blood, myocardium and other tissue. Further anatomical structures, e.g. the coronary vessels, the blood in the cavities and large vessels, are segmented with region growing techniques. Minor fail assign-

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(c)

(d)

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Fig. 6.26. Model of visible man heart (adapted from [37]): (a,b) anatomy and (c,d) conduction system. The diﬀerent tissue classes are color-coded visualized.

ments were eliminated with morphological operators. Therefore, sequences of median ﬁltering as well as opening and closing operators were executed. The excitation conduction and initiation system was constructed manually and with rule-based methods in the Visible Man data set [37]. The valves were created from suitable triangle meshes in the Visible Female data set.

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(a)

(b)

(c)

(d)

Fig. 6.27. Model of human heart from (a) left, (b) frontal, (c) right, and (d) dorsal. The model was constructed on base of the Visible Female data set with techniques of digital image processing.

The resulting anatomical models are illustrated in Fig. 6.25, and 6.27. The anatomical models were validated by human experts. The model of the Visible Man heart was stored in a three dimensional data set consisting of approximately 360,000 cubic voxels with a size of 1 mm x 1 mm x 1 mm. Each voxel was assigned to one out of 16 diﬀerent tissue classes, e.g. left and right ventricle, left and right atrium, arterial and venous blood, and fat as well as diﬀerent kinds of vessels. Special focus was given to the excitation conduction system (Fig. 6.26), which is partly represented in a tree like data structure.

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The model of the Visible Female heart was stored in a three dimensional data set, which consists of approximately 80 million cubic voxels. Each voxel has a size of 0.33 mm x 0.33 mm x 0.33 mm and was assigned to one out of 20 diﬀerent tissue classes. Assignment of Myocyte Orientation and Lamination. The assignment of the macroscopic orientation and lamination of myocytes in the heart model was performed by a sequence of steps [64]: • • •

point-wise deﬁnition of restrictions with manual and rule-based methods interpolation of orientation and lamination by iterative averaging validation by human experts

In all these steps the cryosections and the tissue-classiﬁed data sets were used in conjunction with methods of digital image processing (Chap. 5, particularly Sect. 5.6) and of tensor algebra (Sect. 2.3). The restrictions deﬁne point-wise a myocyte or sheet orientation. Furthermore, they can limit the degree of freedom of an orientation. Restrictions for orientations were determined with automatic methods on the epi- and endocardial surface of myocardial structures. For some structures an individual rule-based method using knowledge from anatomical studies was chosen to derive restrictions (Sect. 6.3.1 and 6.3.2). Furthermore, restrictions were created by the detection of orientations (Sect. 5.6.2) followed by manual editing by human experts. The orientation of myocytes and their arrangement in layers was interpolated based on the created sets of restrictions. The interpolation was performed by iterative averaging in the six-neighborhood of a voxel. The averaging was performed by accumulation of tensors constructed from the orientation and lamination, followed by singular value decomposition. The direction of the ﬁrst and second principal component was used as orientation and sheet direction, respectively (Sect. 2.3). The methods were applied to the Visible Man and Visible Female data set [64, 143, 151, 144, 145]. For the atria the methods delivered the orientations of myocytes, for the ventricles the method delivered the orientation and lamination (Fig. 6.28). The resulting data sets have the same resolution and geometrical dimension as the corresponding tissue classiﬁed data sets. The orientation and lamination are described by three bytes, encoding three angles, φ, θ, and γ, in the range of [0, π]. The encoding of the angle can be eﬃciently used in conjunction with methods of numerical ﬁeld calculation e.g. in electromagnetics and structure mechanics. The results were compared visually by human experts with anatomical studies.

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(a)

(b)

Fig. 6.28. Model of human heart with averaged orientation of myocytes projected on (a) epicardial surface and (b) cutting planes. The orientation was constructed on base of the Visible Man data set, manual editing and interpolation.

6.4.6 Models from Magnetic Resonance Imaging Imaging of Heart. An extracorporated canine heart was ﬁxed and scanned with MRT1 . Images of the proton density and diﬀusion weighted scans were performed (Fig. 6.29). The images were stored in three dimensional data sets, consisting of 256 x 128 x 128 voxels with a size of 0.4 mm x 0.8 mm x 0.6 mm. The proton density of each voxel was coded by a ﬂoat value (4 bytes), the diﬀusion tensor by its three principal axes (3 x 3 x 4 bytes) and its three eigenvalues (3 x 4 bytes). Preprocessing of Digital Images. The MRT data sets were preprocessed primarily regarding the simpliﬁcation of the following image segmentation and classiﬁcation process. The proton density scans showed a signiﬁcant decrease of signal intensity in apical and basal regions, which was detected and compensated by scaling operations. In addition, the proton density images were preprocessed by a sequence of morphological ﬁltering to reduce measurement noise. The data format of the proton density scans was reduced to 1 byte. 1

The imaging was performed by Prof. C. Henriquez, Prof. E. Hsu, and their work groups at the Department of Biomedical Engineering, Duke University, Durham (USA). Special pulse sequences were developed for the diﬀusion weighting.

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(c) Fig. 6.29. Slices of proton density weighted, three dimensional MRT data set of extracorporated canine heart with (a) frontal, (b) lateral, and (c) transversal.

The decrease of signal intensity in apical and basal regions was also found in the diﬀusion weighted images. The images show gaps of diﬀerent size in the regions, which were ﬁlled by interpolation techniques taking neighboring values into account. Additional small artifacts in the diﬀusion-weighted images were detected, erased and ﬁlled up by an interpolation. Segmentation and Classiﬁcation of Tissues. The segmentation and classiﬁcation of the three dimensional data sets were performed using diﬀerent techniques of digital image processing, e.g. interactively deformable meshes, thresholding, region growing, and morphological operators (Sect. 5.3.3 and 5.4.1). The boundaries of the epicardial and endocardial myocardium as well as the septum were constructed using interactively deformable triangle meshes [58]. Therefore, the initial meshes were manually placed, oriented, scaled and afterwards deformed. The boundaries of the epicardial and endocardial myocardium as well as the septum served as a mask for thresholding and region

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(b)

(c) Fig. 6.30. Anatomical model of canine heart viewed from the base of (a) the right ventricle and (b) the left ventricle as well as from (c) frontal. The ventricles and papillary muscles are segmented with interactively deformable meshes and thresholding techniques.

growing in the three dimensional data sets to classify blood and papillary muscles as well as left and right ventricular myocardium. Sequences of morphological operators, i.e. median ﬁltering as well as opening and closing, eliminated minor fail assignments. The tissue-classiﬁed data set is illustrated in Fig. 6.30. Myocyte Orientation. The eigenvector of the measured diﬀusion tensor with the highest eigenvalue served as a basis for the assignment of the orientation. An averaging ﬁlter was applied to reduce noise and artifacts in the measurement data. The resulting data set has the same resolution and size as the tissue classiﬁed data set. Each voxel in the orientation data set includes 2 bytes, encoding two angles, φ, and θ, in the range of [0, π]. An exemplary slice of the anatomical model in conjunction with the assigned ﬁber orientation is shown in Fig. 6.31.

6.4 Modeling of Anatomy

Fig. 6.31. Anatomical model of canine heart with myocyte orientation.

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7 Cardiac Electrophysiology

7.1 Overview Knowledge concerning the electrophysiology of the heart is necessary for the understanding of many aspects of the physiological and pathophysiological cardiac behavior. The electrophysiology is tightly coupled with the mechanic deformation and the pump function of the heart by controlling the development of tension. Furthermore, various mechano-electrical feedback mechanisms inﬂuence the cardiac electrophysiology. The origin of the electrical activity of the heart are the myocytes, which show like nerve cells an electrical excitability. The electrical excitation of a myocyte is tightly coupled with its mechanical contraction. A propagation of electrical excitation from a myocyte to neighboring myocytes is primarily achieved by intercellular transport of ions via the gap junctions. Additionally, extracellular potentials resulting from the electrical activity of cells or from an external current ﬂow can modulate the propagation and initiate an excitation. A large amount of experiments was performed to achieve knowledge concerning the cardiac electrophysiology, delivering data of the intra-, extraand intercellular electrophysiological quantities from speciﬁc functional regions and from the heart as an integrated whole. The quantities obtained by the experiments are e.g. voltages across membranes and in the diﬀerent spatial domains as well as ﬂow and concentrations of ions. The experiments range from the measurement of opening states of single ion channels to the extracorporal registration of electrograms. The hereby discovered phenomena can be attributed e.g. to changes of the electrophysiological states of cellular components and the intercellular electrical coupling. Relevant components are the cell membrane, its ionic channels, pumps and exchangers, as well as intracellular structures, e.g. the sarcoplasmic reticulum. The measurement data were partly used to create mathematical models of diﬀerent levels of abstraction. The models of membrane patches, of single cells and of cell clusters describe the electrophysiological status commonly in a spatially averaged sense by regionally varying concentrations of diﬀerent

F.B. Sachse: LNCS 2966, pp. 157–219, 2004. c Springer-Verlag Berlin Heidelberg 2004

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kinds of ions, by the conductivity of ionic channels, and by the activity of ionic pumps and exchangers. The transport of ions through the channels and exchangers is determined from gradients of ionic concentrations and electrical forces. The models allow the simulation of the electrophysiological behavior with numerical methods. A reconstruction of the previously measured data and furthermore the discovery of unknown phenomena can be achieved. In the following sections diﬀerent electrophysiological experiments and modeling approaches are described. The description starts with the measuring and modeling approaches of phenomena of cellular components, followed by the whole cell electrophysiological behavior and mechanisms of the intercellular excitation propagation. The description of the electrophysiology of cellular components concerns primarily the phenomena resulting from the behavior of the cell membrane and the sarcoplasmic reticulum. In this context the classical work of Hodgkin and Huxley is presented, who delivered quantitative data of the electrophysiology of a squid axon and constructed a mathematical model. Most electrophysiological models of nerve and muscle cells base on their mathematical formulation. Special focus is given to experiments delivering quantitative data and physically motivated models. In addition, mechano-electrical feedback mechanisms are described for the diﬀerent levels of measurement and modeling.

7.2 Cellular Electrophysiology 7.2.1 Experimental Studies Cell Membrane. The cell membrane consists of a phospholipid bilayer, which is perforated by pores formed by proteins (Sect. 6.2.1). The membrane suppresses the diﬀusion of ions and molecules into and out of the cell. The membrane separates the intra- and extracellular space with diﬀerent ionic concentrations. The gradient of ionic concentrations is resulting from transport mechanisms and the cellular metabolism. The electrical behavior of a cellular membrane can be measured in vivo and in situ with two intracellular electrodes. One of the electrodes is used for applying current and one for the registration of the transmembrane voltage. A third electrode is located in the extracellular space near to the cell. The measurement procedure is relatively insensitive with regard to the placement of the electrodes, resulting from the high resistivity of the membrane in contrast to the high conductivity of the extra- and intracellular space. The application of a conveniently chosen current allows the measurement of an action voltage, whereby diﬀerent phases can be distinguished (Fig. 7.1). The action voltage diﬀers depending on the stimulus frequency, tissue type and location in the heart (Fig. 7.2). An alternative procedure is the patch clamp technique, whereby the electrical behavior of a membrane patch restricted by the opening of a glass pipette

7.2 Cellular Electrophysiology

159

Vm [mV] 30

Overshoot Plateau−phase

0 Repolarisation −30

−60

Depolarisation

−90 0

100

200

300

t [ms]

Fig. 7.1. Schematic illustration of action voltage Vm measured at membrane of cardiac myocyte (adapted from [152]). A stimulus current is applied in a myocyte with its membrane at resting voltage. After a fast depolarization the transmembrane voltage reaches positive values. Followed by a fast decrease the relatively long plateau phase is passed through. At their end the repolarization leads to a decrease commonly until the resting voltage is reached.

is registered. The patch is sealed to the glass pipette. Only two electrodes are used, one inside of the pipette and the other outside, near to the patch. The most common used protocol for these measurements is the voltage clamp technique. Hereby, the voltage over the membrane is kept constant by supplying a convenient current. The voltage and the course of the current are registered. Commonly, in these measurements the voltage is varied stepwise, e.g. from −90 mV to 20 mV in steps of 10 mV . The measurements are often performed in conjunction with the application of drugs and toxins, which allows the discrimination of the involved currents and channels. E.g. tetradotoxin and tetraethylammonium block speciﬁcally sodium and potassium channels, respectively [154]. Furthermore, the variation of ionic concentrations and of the mechanical load oﬀers additional insights [155]. A fundamental step in describing the electrophysiology of a cell membrane was performed by Hodgkin and Huxley, who measured and described quantitatively the active and passive electrical behavior of the axon membrane of giant squids [156]. Hereby, voltage clamp techniques as well as the variation of ionic concentrations and temperature were used to measure and discriminate currents through the membrane. The measurements by Hodgkin and Huxley of the electrical behavior of the membrane as well as the numerous following experiments show signiﬁcant nonlinearities of the membrane resistivity [156]. The nonlinearities can be attributed to the behavior of pores in the membrane, i.e. ionic channels

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30 mV

(a) (b) (c)

(d) (e) (f) (g) (h) 0

100

200

300

400

500

600

700 t [ms]

Fig. 7.2. Action voltages measured at membrane of human cardiac myocytes. The voltages at the membrane of myocytes from the (a) sinus node, (b) atrium, (c) atrioventricular node, (d) His bundle, (e) Tawara bundle branch, (f) Purkinje ﬁbers, (g) subendocardial and (h) subepicardial ventricular myocardium are illustrated [153].

and pumps. Furthermore, concentration gradients over the membrane and ion speciﬁc permeabilities lead to measurable voltages, which can be dedicated to the behavior of semi-permeable membranes. Ionic Channels of the Cell Membrane. Ionic channels exist in a wide variety in cell and intracellular membranes (Sect. 6.2.1). Their electrophysiological behavior can be measured with voltage clamp techniques of the whole cell, a membrane patch and a single channel. The observations show that a single channel ﬂips randomly between a conducting and non-conducting state. Measurements of the stochastic opening and closing over a time period allow the assignment of channel speciﬁc probabilities of opening and closing. The transitions are performed in dependence of voltage, ionic concentrations, stretch and neurotransmitters. Often, a time inﬂuenced transition between the states can be found. A population of these channels acts in unison with the probabilities assigned to the single channel. The behavior of the population can be measured as the sum of the single channel behaviors. Sodium Channels. Sodium channels are found to be responsible for the fast depolarization in myocytes of all vertebrates [87]. Measurements of sodium

7.2 Cellular Electrophysiology

161

channels with voltage clamp techniques show a fast transition to the high conductivity state if the voltage exceeds a threshold [156, 88]. Furthermore, the conductivity is found to be signiﬁcantly time dependent. The conductivity decreases rapidly after activation. Sodium channels can be blocked speciﬁcally and reversibly by tetradotoxin and saxitoxin [154]. Potassium Channels. Potassium channels show a large diversity in their molecular arrangement and in their electrophysiology. They are responsible for the repolarization of myocytes and neurons. Several types with a diﬀerent time- and voltage-activated behavior are found in the heart [157]. Twenty diﬀerent types are known only for voltage dependent channels, e.g. channels responsible for the ultra-rapid delayed rectiﬁer current, the rapidly activating delayed rectiﬁer current, the slowly activating delayed rectiﬁer current, and the inward rectiﬁer current. Furthermore, speciﬁc types of potassium channels are regulated by ATP [158] and cAMP [159]. Potassium channels can be blocked reversibly by tetraethylammonium, cesium, barium and dendrotoxins [154]. Heterogeneity of properties and densities of several potassium channels in the ventricular wall is reported for many species, e.g. cat, canine, and human [160, 161, 162, 163]. Calcium Channels. The sarcolemmal ionic channels with a high speciﬁcity for calcium show a voltage- and time-dependent behavior. They are discriminated by their electrophysiological behavior [89]. L-type calcium channels (dihydropyridines receptors) show relatively large and long lasting ion ﬂow after activation. T-type channels show a tiny and transient ion ﬂow. L-type channel blocking by magnesium, nickel, cadmium, and cobalt as well as regulation of the T-type channels by extracellular ATP was observed [154]. Ionic Pumps of the Cell Membrane. Pumps in the sarcolemma are e.g. the Na-K and calcium pump. The Na-K pump maintains the ionic gradients, which are largely inﬂuencing the transmembrane voltage. In a single procedure the Na-K pump transports three sodium ions out of and two potassium ions into the cell consuming ATP. The transport is found to be dependent on the intra- and extracellular sodium and potassium concentration as well as on transmembrane voltage and on temperature. The pump can be blocked speciﬁcally by quabain (strophantin). The sarcolemmal calcium pump transports calcium out of the cell dependent on the concentration of the intracellular calcium. The pump consumes ATP. Na-Ca Exchanger in the Cell Membrane. Na-Ca exchangers are predominantly responsible for the transport of calcium out of the cell, which passed into the cell via the sarcolemmal calcium channels and leak currents [92]. In a single procedure three extracellular sodium ions are exchanged with a single intracellular calcium ion. A Na-Ca exchanger can also work in the

162

7 Cardiac Electrophysiology

opposite direction, which is primarily found in the initial phase of excitation. Measurements show a dependence of the exchange capacity on the concentration of intra- and extracellular calcium and sodium as well as on the transmembrane voltage [164, 165]. The contribution of Na-Ca exchangers to the raise of intracellular calcium concentration during voltage clamp steps to 30 mV is reported to be ca. 10 % of the contribution of the L-type calcium channels [166]. A block is reported for small pH-values, ﬂunarizine, and inorganic cations, e.g. cadmium, strontium and barium [68]. Sarcoplasmic Reticulum. The sarcoplasmic reticulum is an intracellular structure, which is enclosed by a membrane (Sect. 6.2.1). Studies, e.g. with antibodies, showed that the membrane contains calcium, potassium, chlorine and hydrogen ionic channel proteins as well as calcium pump proteins. The sarcoplasmic reticulum has a signiﬁcant inﬂuence to the intracellular calcium handling. Calcium is pumped into the sarcoplasmic reticulum by the sarcoplasmic calcium pump and is released by the calcium release channels. Furthermore, leak calcium currents through the membrane are demonstrated. Insights in the electrophysiological behavior were primarily obtained by voltage clamp techniques of isolated vesicles. Calcium Release Channel. The calcium release channel (ryanodine receptor) shows a high speciﬁcity for divalent cations [85]. The release channel is activated by approximately micro-molar cytoplasmic concentration of calcium and releases calcium buﬀered in the sarcoplasmic reticulum into the cytoplasma. This positive feedback mechanism is called calcium induced calcium release (CICR) [167]. An inhibition is reported by approximately milli-molar concentration of calcium. The channel is regulated by ryanodine and caﬀeine. The activation of release channels is commonly result of calcium ﬂux from the extracellular space into the cytoplasm through L-type calcium channels. The sarcoplasmic release and sarcolemmal L-type channels are located in close neighborhood. The summary calcium release occurs by concerted activation of many single channel release, leading to so-called calcium sparks [168, 86]. A refractory period of release channels is reported after their coherent and simultaneous activation. This refractoriness of circa 1 s is attributed to the entire sarcoplasmic reticulum and not found in small groups of functional units. Sarcoplasmic Calcium Pump. The sarcoplasmic calcium pump, known also as sarcoplasmic Ca2+ -ATPase and SERCA (sarco-endoplasmatic reticulum calcium ATPase), transports calcium ions into the sarcoplasmic reticulum by usage of ATP. Two calcium ions are transported for each hydrolyzed ATP molecule. The sarcoplasmic calcium is buﬀered by the protein calsequestrin. The transport is regulated by the concentration of calcium, magnesium, ATP and the protein phospholamban as well as by pH-value [68, 169]. Mitochondrion. Mitochondria are intracellular organelles enclosed by a membrane (Sect. 6.2.1). The membrane contains calcium ionic channel and

7.2 Cellular Electrophysiology

cell 1

163

cell 2

φi,2 extracellular space

φi,1 φe

Fig. 7.3. Double cell voltage clamp technique. The conductivity of the gap junctions, which couple the intracellular space of adjacent myocytes, can be measured by clamping the potentials φi,1 and φi,2 of two adjacent cells. The voltages are clamped by two voltage sources with common reference potential φe . The diﬀerence of the potentials delivers the voltage over the gap junction.

hydrogen pump proteins as well as sodium-calcium and hydrogen-sodium exchanger. Furthermore, hydrogen pumps are included. The sodium-calcium pump transports two sodium ion inside, while bringing one calcium ion to the cytosol. The hydrogen-sodium pump transports a hydrogen ion inside, while hauling one sodium ion outside. Gap Junctions. Gap junctions are found to be the most important components of the electrical coupling between myocytes [94]. The gap junctions serve as a pathway, which transport electrical current from one cell to adjacent cells depending on the intracellular potentials. Hence, the gap junctions play a determinant role for the propagation of the electrical excitation through the myocardium. The electrophysiological behavior of gap junctions can be determined by measurements with a variation of the before described voltage clamp methods, the so-called double cell voltage clamp technique (Fig. 7.3). The intracellular potential of each cell is clamped by a voltage source. The intercellular voltage is controlled by the two voltage sources with common reference potential. The voltages are registered in conjunction with the applied current, which oﬀers the possibility to calculate the conductivity. The measurements show that the conductivity of gap junctions is dependent on their type and on the intercellular voltage. In the range between −50 and 50 mV the variation is small for connexin43, which is the most abundant connexin in the mammalian myocardium. Experiments were performed, which reveal that the gap junctions uncouple in the case of acute ischaemia and that the homogeneity and ordering of the gap junction distribution is decreased by chronic ischaemia. Also, chronic atrial arrhythmia and infective heart diseases changes the distribution pattern. The conductivity of gap junctions can be decreased by halothane, heptanol and carbon dioxide [98]. A blocking is reported for low pH-values [95].

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7 Cardiac Electrophysiology

φe

extracellular space

Rm

membrane

Cm

φi

intracellular space

Fig. 7.4. Cell membrane and its approximation by resistor-capacitor circuit. The circuit consists of a nonlinear resistor Rm and a capacitor Cm . The voltage over the membrane Vm is hereby deﬁned as the diﬀerence between the extracellular potential φe and the intracellular potential φi

7.2.2 Modeling of Cellular Components Cell Membrane as Resistor-Capacitor Circuit. The electrical behavior of a cell membrane can be approximated by a resistor-capacitor circuit with the nonlinear resistor Rm and the capacitor Cm (Fig. 7.4) [154]. The voltage over the membrane Vm is dependent on the charge Q: Vm =

Q Cm

A change of the transmembrane voltage Vm can be described by the current ﬂow IC : dVm d Q IC = = dt dt Cm Cm assuming that the capacity Cm is constant over time. This equation is adapted by deﬁnition of a summary current through the membrane - foundation of most electrophysiological models of membranes and cells. The capacity of the sarcolemma is depending on its surface. A speciﬁc capacitance of approximately 1 µF/cm2 is found in biological membranes. The membrane resistor Rm is responsible for the discharge of the membrane by the current IC . Using Ohm’s law the resistor is determined by: Rm = −

Vm IC

Equilibrium Voltages of Cell Membrane. The description of the cell membrane as resistor-capacitor circuit neglects the phenomenon, that a voltage is generated across a semipermeable membrane between to regions with diﬀerent ionic concentrations. Diﬀerent equations, e.g. the Nernst and Goldman-Hodgkin-Katz equation, describe this voltage, which results from electrical and chemical forces. The equations are applied in the area of cellular electrophysiology. Hereby, the regions are the intra- and extracellular space with the semi-permeable cell enclosing membrane as border.

7.2 Cellular Electrophysiology

region 1

165

region 2

j D,k [k ]1

[k ] 2

j E,k φ 1 φ2

Fig. 7.5. Fluxes, potentials, and ionic concentrations of the Nernst equation. The equation describes the equilibrium voltage φ2 − φ1 across the border of the two adjacent regions resulting from the ionic concentrations [k]1 and [k]2 . In equilibrium the ﬂux of the ion k due to electrical forces jE ,k and due to diﬀusion jD ,k sums up to zero.

Nernst Equation. The Nernst equation describes the equilibrium voltage across the border of two regions resulting from gradients of ionic concentrations [154] (Fig. 7.5). The Nernst equation determines the equilibrium voltage U by: U =−

RT [k]1 ln zk F [k]2

with the gas constant R, Faraday’s constant F , the concentrations in region 1 [k]1 and in region 2 [k]2 as well as the valence of the ion zk . Furthermore, the equilibrium voltage U is linearly depending on the absolute temperature T. The equilibrium is achieved when the total ﬂux j k of the ion k through the border is zero. The Nernst equation takes into account two diﬀerent ﬂuxes: the ionic ﬂux caused by diﬀusion j D,k and the ionic ﬂux j E,k due to electrical forces (Fig. 7.5). Hence, the equilibrium is achieved if j k = j D,k + j E,k = 0 is fulﬁlled. The ionic ﬂux caused by diﬀusion j D,k is determined by the diﬀusion constant Dk and the gradient of the concentration [k]: j D,k = −Dk ∇[k] Hereby, the diﬀusion coeﬃcient is expressed as: Dk =

uk RT |zk |F

The ﬂux due to electrical forces j E,k is given by the ionic mobility uk , the valence of the ion zk , and the electrical potential φ: j E,k = −uk

zk [k]∇φ |zk |

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7 Cardiac Electrophysiology

intra

extra

jD,K

[K+]i

[K+]e

jE,K jD,Na [Na+]i

[Na+]e

jE,Na jD,Cl [Cl +]i

[Cl +]e

jE,Cl φi

φo

Fig. 7.6. Fluxes, potentials, and ionic concentrations of the Goldman-HodgkinKatz equation. The equation describes the equilibrium voltage φi − φo across a cellular membrane between the intra- and extracellular space resulting from the concentrations of potassium, sodium, and chlorine. In equilibrium the ﬂux of the ions due to electrical forces jE and due to diﬀusion jD sums up to zero.

The ﬂux due to electrical forces j E,k can also be described by: j E,k = −Dk

[k]zk F ∇φ RT

which leads to the Nernst-Planck equation delivering the total ionic ﬂux j k :

[k]zk F ∇φ j k = j D,k + j E,k = −Dk ∇[k] + RT A restriction of the Nernst equation is caused by the inclusion of only one kind of ions. The approach is justiﬁable if the mobility of further kinds of ions is restricted or their concentrations are negligible. Goldman-Hodgkin-Katz Equation. The Goldman-Hodgkin-Katz equation was developed to describe the equilibrium voltage U of a cellular membrane separating the intra- and extracellular space. The equation extends the Nernst equation by allowing the occurrence of multiple kinds of ions, which are determinants in cellular electrophysiology, i.e. potassium, sodium, and chlorine. A concentration for each kind of ions is assigned to the intra- and extracellular space as well as ﬂuxes for each kind of ions caused by diﬀusion and electrical forces are allowed through the membrane (Fig. 7.6).

7.2 Cellular Electrophysiology

167

With the Goldman-Hodgkin-Katz equation the equilibrium voltage U is determined by: U =−

RT PK [K + ]i + PN a [N a+ ]i + PCl [Cl− ]o ln F PK [K + ]o + PN a [N a+ ]o + PCl [Cl− ]i

from intra- and extracellular ionic concentrations, ionic permeabilities and the absolute temperature T . The permeability of the membrane for the potassium, Sodium, and Chloride ions is depicted by PK , PN a , and PCl , respectively. The permeability of an ion k is expressed by: Pk =

D k βk h

with the membrane thickness h, the diﬀusion coeﬃcient Dk and the watermembrane partition coeﬃcient βk . The diﬀusion coeﬃcient as well as the water-membrane partition coeﬃcient are dependent on the type of membrane and kind of ion k. A restriction of the Goldman-Hodgkin-Katz equation is that the membrane is presumed to be homogeneous, planar, and inﬁnite as well as the distribution of the extra- and intracellular concentration is homogeneous. Further assumptions are that the electric ﬁeld in the membrane is constant and the ions pass through the membrane independently [154]. Ionic Channels. The behavior of a single ionic channel can be modeled with states and functions describing the transition between the states. In the simplest case two states are assumed: an opened and a closed state. Assigned to these states is an opened probability Oi and a closed probability Ci , respectively, reﬂecting that the transition between the states is stochastic. The probabilities sum up to one. They are in the range between 0 and 1. The change of the open probability O is determined by: dOi = αCi − βOi dt with the rate constant α, responsible for the transition from the closed to the opened state: Ci ⇒ Oi , and the rate constant β, concerned with the transition from the opened to the closed state: Oi ⇒ Ci . The rate constants depend on the type of ionic channel, transmembrane voltage, ionic concentration, stretch etc.. In equilibrium the change is zero: dOi =0 dt The macroscopic conductivity of a population of similar channels is speciﬁed by: gi = Ni Oi gi,max

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7 Cardiac Electrophysiology

extracellular space IK Vm INa

Il

intracellular space Fig. 7.7. Schematic diagram of the Hodgkin-Huxley model. The model calculates the currents INa , IK , and Il as well as the transmembrane voltage Vm .

with the number of channels Ni and the maximal conductivity of the channel gi,max . The total current through a population of ionic channels is resulting from the diﬀerence between the transmembrane voltage Vm and the Nernst voltage Ei : Ii = gi (Vm − Ei ) with the conductivity gi . Regional Concentrations and Current. The time derivative of a regional concentration [k] for the ion k is calculated with: Ik ∂[k] =− ∂t zk F V with the current Ik carrying ion k, the valence of the ion zk , Faraday’s constant F and the volume V of the region, where k is distributed. Model of Hodgkin and Huxley (1951). The Hodgkin-Huxley model describes the dynamic electrophysiology of a giant squid axon membrane from measurements of the active and passive electrical behavior [156]. A foundation of the mathematical description is the Nernst Equation (7.2.2). Using the measurement data an equivalent circuit consisting of resistors, a capacity, and voltage sources was parameterized. Partly, the resistors were nonlinear time and voltage dependent. The model allows to calculate ionic currents of diﬀerent type passing through the axon membrane and the transmembrane voltage (Fig. 7.7 and Fig. 7.8). The transmembrane voltage Vm is deﬁned as intracellular minus extracellular potential and the time derivative of Vm is described by: 1 ∂Vm =− (Im + Istim ) ∂t Cm with the membrane capacity Cm , the transmembrane current Im and the stimulus current Istim . The transmembrane current Im reconstructed by the Hodgkin-Huxley model consists of

7.2 Cellular Electrophysiology

169

Fig. 7.8. Simulations with the Hodgkin-Huxley model. A stimulus current density of 0.02 mA/cm2 is injected at t = 5 ms with a length of 0.5 ms. The stimulus leads to signiﬁcant changes in (a) the transmembrane voltage, (b) the state variables for sodium and potassium channels, (c) the conductances, and (d) the transmembrane current densities of sodium, potassium and leakage.

Im = IN a + IK + Il with the sodium current IN a , the potassium current IK , and the leakage current Il . The leakage current Il summarizes diﬀerent ionic currents, primarily chloride ions. The currents are determined by the conductances gN a , gK , and gl , respectively, as well as by the diﬀerence between the transmembrane voltage and the equilibrium voltages EN a , EK , and El , respectively: IN a = gN a (Vm − EN a ) IK = gK (Vm − EK ) Il = gl (Vm − El ) The conductance gl is assumed to be constant, the other conductances vary with time and are voltage dependent. The ionic concentrations are supposed to be invariant leading to non-varying equilibrium voltages.

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7 Cardiac Electrophysiology

Fig. 7.9. Rate coeﬃcients of sodium channels of the Hodgkin-Huxley model. The coeﬃcients describe the voltage and time dependent changes of the state variables responsible for (a) the activation and (b) the inactivation of sodium channels.

The sodium conductivity gN a is time and voltage dependent: gN a = m3 hgN a with the maximal conductance for sodium ions g N a , the dimensionless activation variable m, and inactivation variable h. The voltage dependent rate constants αm , βm , αh , and βh control the activation and inactivation variable: dm = αm (1 − m) − βn m dt dh = αh (1 − n) − βn h dt Fig. 7.9 shows the dependency on the rate constants αm , βm , αh , and βh to the transmembrane voltage Vm . The biophysical motivated assumption of the weighting of the conductance gN a by the state variables m and h was, that sodium ions can only ﬂow through a sodium channel, if three similar, independent events lead to an opening and no blocking event occurred. The potassium conductivity gK is time and voltage dependent: g K = g K n4 with the maximal conductance for potassium ions g K and the dimensionless state variable n, which is regulated by the voltage dependent rate constants αn and βn : dn = αn (1 − n) − βn n dt Fig. 7.10 depicts the dependence of the rate constants αn and βn to the transmembrane voltage Vm .

7.2 Cellular Electrophysiology

171

Fig. 7.10. Rate coeﬃcients of potassium channels of the Hodgkin-Huxley model. The coeﬃcients describe the voltage and time dependent changes of the state variables responsible for the activation of potassium channels.

The biophysical motivation of the weighting of the conductance gK with the state variable n was the assumption, that potassium ions can only ﬂow through a potassium channel, if four similar, independent events are involved in the opening process. 7.2.3 Models of Cardiac Myocytes Overview. In the last years a large number of models of myocytes was constructed (table 7.1), with increasing abilities to describe the diﬀerent electrophysiological mechanisms. Primarily, the models are produced from animal experiments using the mathematical formulations of Hodgkin and Huxley. The modeling approaches of the cell membrane, ionic channels and pumps, exchanger and intracellular components are combined to describe the behavior of a whole cell. Modern models include detailed descriptions of the behavior of intracellular structures as well as of the inﬂuence of pharmaceuticals, neurotransmitters and mechanics. Some recently published models describe the human cellular electrophysiology. In the following some electrophysiological models of cardiac cells are described. Their assumptions, principles and advances are presented. The overview is focused to models of ventricular myocytes. A model of Purkinje ﬁbers and of cells from the sinoatrial node extend the overview. Special attention was attended to the handling of intracellular calcium, because of its importance for the coupling between electrical excitation and mechanical contraction. Model of Noble (1962). The Noble model describes the electrophysiology of a Purkinje ﬁber by modiﬁcations of the Hodgkin-Huxley equations (Fig. 7.11) [170]. The selection of this cell type was caused by the relatively

172

7 Cardiac Electrophysiology Table 7.1. Electrophysiological models of cardiac cells. Date 1962 1975 1977

Publisher Noble McAllister, Noble, Tsien Beeler, Reuter

1980 1982 1983 1984 1985 1987 1990 1991

Yanagihara, Noma, Irisawa Bristow, Clark Bristow, Clark Noble, Noble DiFrancesco, Noble Hilgemann, Noble Earm, Noble Luo, Rudy

1994 Luo, Rudy 1994 Demir, Clark, Murphey, Giles 1996 Dokos, Celler, Lovell 1996 Demir, O’Rourke, Tomaselli, Marban, Winslow 1996 Lindblad, Murphey, Clark, Giles 1998 Courtemanche, Ramirez, Nattel 1998 Jafri, Rice, Winslow 1998 1998 1998 1999 2000 2000 2002 2003 2003 2003

Cell Type Purkinje ﬁber Purkinje ﬁber ventricular myocardium sinus node sinus node sinus node sinus node Purkinje ﬁber atrial myocardium atrial myocardium ventricular myocardium ventricular myocardium sinus node

Species mammal

Reference [170] [171] [172]

rabbit rabbit rabbit rabbit mammal rabbit rabbit mammal

[173] [174] [175] [176] [177] [178] [179] [180]

guinea pig [181, 182] mammal

[183]

sinus node mammal ventricular canine myocardium atrial myocardium rabbit

[184] [185]

atrial myocardium human

[187]

[186]

ventricular guinea pig [188] myocardium Noble, Varghese, Kohl, ventricular guinea pig [189] Noble myocardium Nygren, Fiset, Firek, Clark, atrial myocardium human [190] Lindblad, Clark, Giles Priebe, Beuckelmann ventricular human [191] myocardium Winslow, Rice, Jafri, ventricular canine [192, 193] Marb´ an, O’Rourke myocardium Ramirez, Nattel, atrial myocardium canine [194] Courtemanche Zhang, Holden, Kodama, sinus node rabbit [195] Honjo, Lei, Varghese, Boyett Bernus, Wilders, Zemlin, ventricular human [196] Verschelde, Panﬁlov myocardium Sachse, Seemann, ventricular human [197] Chaisaowong, Weiß myocardium Seemann, Sachse, Weiß, ventricular human [198] D¨ ossel myocardium Ten Tusscher, Noble, Noble, ventricular human [199] Panﬁlov myocardium

7.2 Cellular Electrophysiology

173

extracellular space I K1

I K2 Vm

INa

INa,b

IAn

intracellular space Fig. 7.11. Schematic diagram of the Noble model. The model calculates the currents INa , INa,b , IK1 , IK2 , and IAn as well as the transmembrane voltage Vm .

large cellular size simplifying measurements and by the apparent resemblance of the electrophysiological behavior to nervous cells. A novel quality of the model was the decomposition of the sodium and potassium currents as well as the reconstruction of the pace-maker property in cells. As in the HodgkinHuxley model all ionic concentrations are supposed to be invariant. The conductances and the rate constants are adapted to ﬁt to measurements and to take into account the decompositions. The transmembrane current Im reconstructed by the Noble model consists of Im = IN a + IN a,b + IK1 + IK2 + IAn with the inward sodium current IN a , the background sodium current IN a,b , the outward potassium currents IK1 and IK2 , and the anion current IAn corresponding to the leak current of the Hodgkin-Huxley model. The sodium current equations are similar to those from the HodgkinHuxley equations: IN a = gN a (Vm − EN a ) gN a = m3 hg N a with the time and voltage dependent conductance for sodium gN a , the equilibrium sodium voltage EN a , the dimensionless activation variable m and inactivation variable h. The sodium current is the principal determinant during the rising phase of the action voltage. A background sodium current IN a,b controlled by the constant background conductance gN a,b is introduced: IN a,b = gN a,b (Vm − EN a ) The outward potassium current is composed of two currents IK1 and IK2 . The current IK1 is time independent and decreases instantaneously when the membrane voltage increases:

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7 Cardiac Electrophysiology

IK1 = gK1 (Vm − EK ) gK1 = 1.2e−

Vm 50

+ 0.015e

Vm +90 60

with the potassium conductance gK1 and the equilibrium potassium voltage EK . The current IK2 is time and voltage dependent. Its description is similar to the Hodgkin-Huxley model: IK2 = gK2 (Vm − EK ) gK2 = g K2 n4 with the conductance for potassium gK2 , the maximal conductance for potassium g K2 , and the dimensionless activation variable n. The voltage dependent rate constants αn and βn specify the activation by dn = αn (1 − n) − βn n dt Their values are two order of magnitude smaller than in the Hodgkin-Huxley model, because of the slower onset of this current in Purkinje ﬁbers. The anion current equations are similar to those from Hodgkin-Huxley: IAn = gAn (Vm − EAn ) with the constant anion conductance gAn and the anion equilibrium voltage EAn . Model of Beeler and Reuter (1977). The Beeler-Reuter model describes the electrophysiology of a mammalian ventricular myocyte based on measurements with the voltage-clamp method on multicellular preparations of cardiac muscle (Fig. 7.12) [172]. Variables of the model are the transmembrane voltage Vm and the intracellular calcium concentration [Ca2+ ]i as well as six activation and inactivation parameters m, h, j, d, f , and x1 controlling the conductance of the membrane. Each of these parameters is governed by a Hodgkin-Huxley equation with speciﬁcally chosen transfer rate coeﬃcients. The transmembrane current Im reconstructed by the Beeler-Reuter model consists of Im = IN a + IN a,b + IK1 + IX1 + IS with: Fast inward sodium current IN a Background sodium current IN a,b Outward potassium current IK1 Non-speciﬁc outward current, primarily potassium IX1 Non-speciﬁc inward current, primarily calcium IS

7.2 Cellular Electrophysiology

175

extracellular space I K1

IX1 Vm

INa

INa,b

intracellular space

IS [Ca 2+] i

Fig. 7.12. Schematic diagram of the Beeler-Reuter model. The model calculates the transmembrane voltage Vm , the currents INa , INa,b , IK1 , IX1 , and IS , and the intracellular calcium concentration [Ca2+ ]i .

The time- and voltage-dependent inward sodium current IN a is in particular responsible for the fast upstroke of the action voltage. The formulation is in parts adopted from the Hodgkin-Huxley and the Noble model: IN a = gN a m3 hj(Vm − EN a ) with the Nernst voltage of sodium EN a = 50 mV , the maximal sodium conductance gN a , the activation parameter m, and the inactivation parameters h and j. The sodium background current IN a,b is time independent: IN a,b = gN a,b (Vm − EN a ) with the background sodium conductance gN a,b chosen to reproduce the measured steady sodium leakage current. The time-independent and voltage-dependent outward potassium current IK1 is obtained by:

4e0.04(Vm +85)−1 0.2(Vm + 23) IK1 = 0.35 0.08(V +53) + m e + e0.04(Vm +53) 1 − e−0.04(Vm +23) A large contribution of this current to the transmembrane current can be found at the plateau phase of the action voltage. The current is slowly deactivated and a determinant for the shape of the plateau phase of the action voltage. The time-dependent and voltage-dependent outward current IX1 is mainly dedicated to the ﬂow of potassium ions: IX1 = 0.8 x1

e0.04(Vm +77) − 1 e0.04(Vm +35)

with the parameter x1. The current is slowly activated and responsible for the repolarization of the cell membrane.

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7 Cardiac Electrophysiology

The time- and voltage-dependent inward current IS reﬂects the summary ﬂow of diﬀerent types of ions, but is primarily attributed to calcium ions: IS = gs df (Vm − Es ) with the Nernst voltage of calcium Es = −82.3 − 13.0287 ln [Ca2+ ]i , the maximal conductance gs , the activation parameter d, and the inactivation parameter f . As the outward current IK1 the current IS is slowly deactivated and a determinant for the shape of the plateau phase of the action voltage. The concentration of the intracellular calcium [Ca2+ ]i is initially set to 0.2 µM . The time derivative of [Ca2+ ]i is calculated with the inward current IS by ∂[Ca2+ ]i = −10−7 IS + 0.07(10−7 − [Ca2+ ]i ) ∂t Fig. 7.13 (a) shows the transmembrane voltage calculated with the BeelerReuter model in dependency on diﬀerent stimulus frequencies. An increase of the stimulus frequency in the range of [0.5Hz . . . 3Hz] leads to an decrease of the plateau voltage as well as of the action voltage duration. Simulations with lower frequencies lead to insigniﬁcant changes in the shape and duration of the action voltage. Simulations with higher frequencies using stimuli in the relative and absolute refractory period lead commonly to irregular shapes and durations. Fig. 7.13 (b) depicts the intracellular calcium concentration [Ca2+ ]i resulting from simulations with diﬀerent stimulus frequencies. An increase of the stimulus frequency in the range [0.5Hz . . . 3Hz] leads to a decreasing duration of the action voltage and of the calcium enhancement. Furthermore, the potential in and after the plateau phase is reduced. The model of Beeler-Reuter reconstructs successfully the transmembrane voltage of ventricular myocytes. Major drawback is the neglect of important ionic channels, pumps and exchangers leading to deﬁciencies for the reconstruction of many phenomena. Furthermore, the model overestimates the intracellular calcium concentration [Ca2+ ]i signiﬁcantly, which can be attributed e.g. to the neglect of buﬀering mechanisms by troponin and calmodulin. Model of Luo and Rudy Phase-1 (1991). The Luo-Rudy phase-1 model describes the electrophysiology of a ventricular cell from guinea pig based primarily on data from single-cell and single-channel measurements (Fig. 7.14) [180]. The model is a succession of the Beeler-Reuter model using similar formulations e.g. for the fast sodium current and the slow inward current. Variables of the model are the transmembrane voltage Vm and the intracellular calcium concentration [Ca2+ ]i as well as seven activation and inactivation parameters m, h, j, d, f , x, and k1. Each of these parameters is governed by a Hodgkin-Huxley equation with speciﬁcally chosen transfer rate coeﬃcients.

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177

Fig. 7.13. Simulations with the Beeler-Reuter model. (a) Transmembrane voltage Vm and (b) intracellular calcium concentration [Ca2+ ]i are dependent on the stimulus frequency. For each frequency a single course is visualized. The cell is activated by applying a current at t = 25 ms with a length of 3 ms.

The transmembrane current Im of the Luo-Rudy phase-1 model consists of Im = IN a + Isi + IK + IK1 + IKp + Ib with:

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7 Cardiac Electrophysiology

Fast inward sodium current IN a Slow inward current Isi Time-dependent potassium current IK Time-independent potassium current IK1 Plateau potassium current IKp Background potassium current Ib The transfer rate coeﬃcients for the activation of the fast inward sodium mV m current IN a were adjusted to achieve an upstroke velocity ∂V ∂t of 400 s . A novelty of the model was the introduction of the plateau potassium current IKp activated at high potentials. The model allows the reproduction of supernormal activity, deﬁned as larger than normal excitability during or after the repolarization phase, and of Wenckebach periodicity, deﬁned as periodic, stimulus frequency dependent activation failure. extracellular space IK

I K1

IKp Vm

INa

Isi

Ib [Ca 2+] i

intracellular space

Fig. 7.14. Schematic diagram of the Luo-Rudy phase-1 model. The model calculates the transmembrane voltage Vm , the currents INa , Isi , IK , IK1 , IKo , and Ib , and the intracellular calcium concentration [Ca2+ ]i .

extracellular space

[Ca 2+]o [ K + ] o IK

I K1

IKp

Ins(Ca) Ip(Ca)

INaCa Vm

INa

INa,b

INaK

intracellular space

Irel

Ileak

[Ca 2+]i [Na+ ]i network sr

[Ca 2+]nsr Iup

Itr

ICa,L

[Ca 2+]jsr

ICa,b

junctional sr

Fig. 7.15. Schematic diagram of the original Luo-Rudy phase-2 model. The model calculates the transmembrane voltage Vm , eleven currents through the sarcolemma and four currents of the sarcoplasmic reticulum (sr). Furthermore, two extracellular and four intracellular concentrations are updated.

7.2 Cellular Electrophysiology

179

Fig. 7.16. Simulations with an enhanced Luo-Rudy phase-2 model. (a) Transmembrane voltage Vm and (b) intracellular calcium concentration [Ca2+ ]i are dependent on the stimulus frequency. For each frequency a single course of the transmembrane voltage and intracellular calcium concentration, respectively, is visualized.

Model of Luo and Rudy Phase-2 (1994). The Luo-Rudy phase-2 model is an extension of the phase-1 model and describes the electrophysiology of a ventricular cell (Fig. 7.15) [181, 182]. The model is constructed primarily from single-cell and single-channel measurements of guinea pig ventricular cells. The extension consists mainly of a reformulation of the calcium handling, i.e. the intracellular currents describing quantitatively the calcium mechanics of the

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7 Cardiac Electrophysiology

sarcoplasmic reticulum. Diﬀerent enhancements and adaptations of the model exist. The transmembrane current Im of the original phase-2 model consists of Im = IN a + ICa,L + IK + IK1 + IKp + IN aCa + IN aK +Ins(Ca) + Ip(Ca) + ICa,b + IN a,b with: Fast inward sodium current IN a Currents through L-type calcium channel (Ca2+ , N a+ , K + ) ICa,L Time-dependent potassium current IK Time-independent potassium current IK1 Plateau potassium current IKp Na-Ca exchanger current IN aCa Na-K pump current IN aK Non-speciﬁc calcium-activated current Ins(Ca) Sarcolemmal calcium pump Ip(Ca) Background calcium current ICa,b Background sodium current IN a,b The model includes a representation of the sarcoplasmic reticulum by two subcompartements, the network and the junctional sarcoplasmic reticulum. The subcompartements serve for the buﬀering of calcium ions. The intracellular calcium mechanisms are governed by four currents: inward calcium current to network sarcoplasmic reticulum Iup outward calcium current from network sarcoplasmic reticulum Ileak calcium current between network and junctional sarcoplasmic reticulum Itr outward calcium current from junctional sarcoplasmic reticulum Irel The current Iup represents a pump mechanism transporting calcium ions from the cytoplasm to the network sarcoplasmic reticulum. The calcium ions are transferred via a leak current Ileak back to the cytoplasm and via the current Itr to the junctional sarcoplasmic reticulum. Thenceforth, the calcium is released to the cytoplasm with a calcium activated current Irel . The model allows the reconstruction of early (EAD) and delayed afterdepolarization (DAD) as well as triggered and rhythmic activity, which are arrhythmogenic single cell phenomena [200]. The EAD is deﬁned as a depolarizing after-voltage beginning before the completion, the DAD as a depolarizing after-voltage beginning after the completion of the repolarization. Model of Demir, Clark, Murphey and Giles (1994). The Demir-ClarkMurphey-Giles model describes the electrophysiology of a rabbit sinoatrial node cell (Fig. 7.17) [183]. The model is based on whole cell recordings from enzymatically isolated single cells of the border zone of the sinus node. The

7.2 Cellular Electrophysiology bulk medium

INa,cb

IK,cb

ICa,cb

IK,b

Ip(Ca)

INaCa

181

cleft space

[Ca 2+]c [ K +]c

[Na +]

c

IK

Vm INa

INa,b

[Ca 2+]i [ K +]i

INaK

ICa,L

ICa,b

IfNa

IfK

i

Iup [Ca 2+] up intracellular space

ICa,T

[Na +]

Troponin

Calmodulin

uptake sr

Itr

I rel [Ca 2+]rel release sr

Calsequestrin

Fig. 7.17. Schematic diagram of the Demir-Clark-Murphey-Giles model. The model calculates the transmembrane voltage Vm , twelve currents through the sarcolemma, three current from the cleft space to the bulk medium, and three currents of the sarcoplasmic reticulum (sr). Furthermore, three cleft and ﬁve intracellular concentrations are updated.

internal concept is derived from the work of DiFrancesco and Noble [177] as well as Hilgeman and Noble [178]. The transmembrane currents Im of the Demir-Clark-Murphey-Giles model are described by: Im = IN a + ICa,T + ICa,L + IK + If K +If N a + IN a,b + IK,b + ICa,b + IN aK + IN aCa + Ip(Ca) with: Inward sodium current IN a Transient calcium current ICa,T Long-lasting calcium current ICa,L Time- and voltage dependent delayed rectiﬁer potassium current IK Hyper-polarization-activated potassium current If K Hyper-polarization-activated sodium current If N a Background sodium current IN a,b Background potassium current IK,b Background calcium current ICa,b Na-K pump current IN aK Na-Ca exchanger current IN aCa Calcium pump current Ip(Ca) The activation rate coeﬃcients of the inward sodium currents are adapted m to consider the low upstroke velocity ∂V ∂t of sinoatrial node cells. The model includes two hyper-polarization-activated currents If K and If N a . Hyperpolarization-activated currents are of importance for any model of pacemaker

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7 Cardiac Electrophysiology

Fig. 7.18. (a) Transmembrane voltage Vm and (b) intracellular calcium concentration [Ca2+ ]i calculated with Demir-Clark-Murphey-Giles model.

activity. The currents increase the transmembrane voltage after a repolarization. An automatic depolarization process is initiated after exceeding of the threshold voltage (Fig. 7.18). Model of Priebe and Beuckelmann (1998). The Priebe-Beuckelmann model describes the electrophysiology of a human ventricular myocyte [191]. The model was used as a tool to explore therapeutic interventions on the electrical excitability of myocardium. The model is a descendant of the LuoRudy phase-2 model, which was parameterized with data from measurements of transmembrane voltage, ionic currents and concentrations in human myocytes [201]. The transmembrane currents Im of the Priebe-Beuckelmann model are described by: Im = IN a + ICa,L + Ito + IKr + IKs +IK1 + IN aCa + IN aK + IN a,b + ICa,b with: Inward sodium current IN a Long-lasting calcium current ICa,L Transient outward potassium current Ito Time- and voltage dependent delayed rectiﬁer potassium current IKr Time- and voltage dependent delayed rectiﬁer potassium current IKs Inward rectiﬁer potassium current IK1 Na-Ca exchanger current IN aCa Na-K pump current IN aK Background potassium current IN a,b Background calcium current ICa,b

7.2 Cellular Electrophysiology

183

Fig. 7.19. Simulations with the Priebe-Beuckelmann model of human ventricular myocytes. The reconstructed course of (a) transmembrane voltage Vm and (b) intracellular calcium concentration [Ca2+ ]i show diﬀerences in normal and failing myocytes. Failing myocytes feature prolonged duration of action voltage and intracellular calcium transients.

Models exist for normal and failing myocytes (Fig. 7.19). The model of failing myocytes diﬀers in several parameters from the model of normal myocytes: reduced conductivity for transient output potassium current gto,max , reduced conductivity for inward rectiﬁer current gK1,max , increased conductivity for calcium background current GCa,b , reduced conductivity of sodium background current GN a,b , down-regulation of Na-K pump I N aK , up-regulation of Na-Ca exchanger kN aCa , down-regulation of network sarcoplasmic reticulum calcium pump I up , and decreased calcium leak of network sarcoplasmic reticulum Kleak . A variant of the model exists using only six state variables, which allows an eﬃcient calculation of excitation propagation [196]. The models shows signiﬁcant numerical advantages, but neglects intracellular calcium handling and several further components. The Priebe-Beuckelmann model was adapted in subsequent work to take recent measurement data from humans into account and to integrate it with tension development models [197, 198]. Adaptations were made for both normal and failing myocytes concerning the intracellular calcium handling, i.e. NSR Ca2+ uptake, Ca2+ background current, and Na-Ca exchanger. Further adaptations were made to reconstruct the heterogeneity of several components over the ventricular wall, i.e. transient outward potassium current Ito , the delayed rectiﬁer potassium currents IKr and IKs , and inward rectiﬁer potassium current IK1 . Model of Noble, Varghese, Kohl and Noble (1998). The NobleVarghese-Kohl-Noble model describes the electrophysiology of a ventricular cell of guinea pig (Fig. 7.20). The model includes eﬀects on ionic channels by the concentration of ATP and acetylcholine (ACh) as well as by stretching. Furthermore, a force generation model is included. A description of the diadic

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7 Cardiac Electrophysiology

extracellular space

[ K +]

e

IK1 INa

INa,b

I Na,p

ICa,L,Na

IKr,Ks

INaCa,ds ICa,L,Ca

I NaK Iup

[Ca 2+] [ K +] [Na +]i i i

[ Ca 2+]troponin intracellular space

IK,ATP IK,ACh INaCa

ICa,L,K IK,Na

troponin

[Ca2+]up uptake sr

I Ca,b

Irel

Itr

[Ca 2+]rel

release sr

I Ca,L,Ca,ds

[Ca]ds [Ca 2+]calmod calmodulin

diadic space

Fig. 7.20. Schematic overview of the Noble-Varghese-Kohl-Noble model. The model calculates the transmembrane voltage Vm , the currents through the sarcolemma to the intracellular space and the currents of the sarcoplasmic reticulum (sr). Furthermore, intra- and extracellular concentrations are updated.

space is incorporated. Diﬀerent variants and conﬁgurations of the model exist. The following description is based on [189, 202, 203] and focused on the electrophysiological part of the model. Hereby, the transmembrane currents are described by: Im = IN a + IN a,b + IN a,p +IK1 + IKr + IKs + IK,AT P + IK,ACh +ICa,b + ICa,L,K + ICa,L,N a + ICa,L,Ca +ICa,L,K,ds + ICa,L,N a,ds + ICa,L,Ca,ds +IN aK + IN aCa + IN aCa,ds +Istretch with: Fast sodium current IN a Background sodium current IN a,b Voltage dependent sodium current IN a,p Time-independent potassium current (background) IK1 Time-dependent, delayed potassium currents IKr , IKs Sodium dependent potassium current IK,N a ATP-dependent potassium current IK,AT P ACh-dependent potassium current IK,ACh Background calcium current ICa,b Currents through L-type calcium channels ICa,L,Ca , ICa,L,N a , ICa,L,K L-type calcium current into the diadic space ICa,L,Ca,ds Na-K pump current IN aK Na-Ca exchanger current IN aCa Na-Ca exchanger current for diadic space IN aCa,ds Stretch activated currents Istretch

7.2 Cellular Electrophysiology

185

Fig. 7.21. Simulations with the Noble-Varghese-Kohl-Noble model. (a) Transmembrane voltage Vm and (b) intracellular calcium concentration [Ca2+ ]i are dependent on the stimulus frequency. For each frequency a single course of the transmembrane voltage and the calcium concentration is visualized.

Fig. 7.21 shows the inﬂuence of stimulus frequency to the course of the transmembrane voltage Vm and intracellular calcium concentration [Ca2+ ]i . Hereby, stretch activated currents are neglected. With higher stimulus frequency the resting voltage is increased and the duration of the action voltage is decreased.

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7 Cardiac Electrophysiology

Fig. 7.22. Stretch function for weighting of ion conductances in dependence of sarcomere length SL. The sarcomere length SLHST of half maximal activation is set to 2 µm, the steepness parameter SACSL to 2.

Intracellular Mechano-Electric Feedback. The Noble-Varghese-Kohl-Noble model includes dependencies of electrophysiological parameters on the length or tension of the sarcomere. The mechano-electric feedback is realized by introducing • • •

selective and non selective stretch-activated ion conductances a modulation of calcium binding to troponin a modulation of sarcoplasmic leak current

The following description of the mechanisms is restricted to the length dependencies of the electrophysiological parameters. The length or stretch dependent formulation is of advantage for the coupling with deformation models. Stretch-activated ion conductances. Two models are proposed to calculate stretch-activated ion conductances and to reconstruct stretch activated currents. In both models the ion conductances are weighted by the sarcomere length SL with the stretch function f stretch(SL) =

1 1 + e−2SACSL(SL−SLHST )

with the steepness parameter SACSL and the sarcomere length SLHST at which half maximal activation occurs (Fig. 7.22). The ﬁrst model describes the summary stretch current Istretch with a nonspeciﬁc IN s−stretch and an anion stretch current IAn−stretch : Istretch = IN s−stretch + IAn−stretch The currents IN s−stretch and IAn−stretch are determined by the stretch function f stretch dependent on the sarcomere length SL, the maximal conductivities gN s−stretch and gAn−stretch , respectively, and the equilibrium voltages EN s−stretch and EAn−stretch , respectively: IN s−stretch = f stretch(SL) gN s−stretch (Vm − EN s−stretch ) IAn−stretch = f stretch(SL) gAn−stretch (Vm − EAn−stretch )

7.2 Cellular Electrophysiology

187

The second model subdivides the summary stretch current Istretch in a sodium IN a−stretch , a potassium IK−stretch , a calcium ICa−stretch , and an anion stretch current IAn−stretch : Istretch = IN a−stretch + IK−stretch + ICa−stretch + IAn−stretch

(7.1)

Hereby, the stretch currents are calculated as described in the simple model with the stretch function f stretch, the maximal conductivities and the equilibrium voltages: IN a−stretch = f stretch(SL) gN a−stretch (Vm − EN a ) IK−stretch = f stretch(SL) gK−stretch (Vm − EK ) ICa−stretch = f stretch(SL) gCa−stretch (Vm − ECa ) IAn−stretch = f stretch(SL) gAn−stretch (Vm − EAn−stretch ) The second model describes the stretch current obviously more detailed regarding the diﬀerent types of ions and herewith oﬀers the advantage to update quantitatively the sodium, potassium and calcium concentrations. Modulation of calcium binding to troponin C. The binding of intracellular calcium to troponin C is modulated by stretch: ∂[Ca2+ ]troponin = αtroponin eγtrop,SL SL ([troponin] − [Ca2+ ]troponin )[Ca2+ ]i ∂t −βtroponin [Ca2+ ]troponin with the concentration of calcium bound to troponin C [Ca2+ ]troponin , the total troponin concentration [tropronin], the intracellular calcium concentration [Ca2+ ]i , the transfer rates αtroponin and βtroponin , and the parameter γtrop,SL . The stretch is deﬁned by the sarcomere length SL. Modulation of sarcoplasmic reticulum leak current. The calcium leak current Irel from the sarcoplasmic reticulum to the cytoplasm is divided in a stretch dependent and an independent part: Irel =

factivator factivator + 0.25

2

kmca2 [Ca2+ ]rel + JSR−leak eγSR,SLSL

The current is controlled independently of stretch by the state variable factivator , the parameter kmca2 and the sarcoplasmic calcium concentration [Ca2+ ]rel . The stretch dependent part is calculated with the sarcomere length SL, the experimentally determined parameters γSR,SL and JSR−leak . Simulations. Two sets of simulations were performed to examine the inﬂuence of static and dynamic stretch [204]. The inﬂuence of static stretch of diﬀerent strength was tested by initiation of excitation via injection of a convenient current with a duration of 3 ms. The phenomena of dynamic stretch were

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7 Cardiac Electrophysiology

Fig. 7.23. Simulations with varied static length of sarcomere. (a) Transmembrane voltage and (b) calcium concentration in the cytoplasm dependent on length of sarcomere calculated with Noble-Varghese-Kohl-Noble model. The cell is excited by applying a stimulus current at t = 25 ms with a length of 3 ms. The sarcomere length ranges from 2.0 to 2.2 µm. The default length of the sarcomere is 2 µm. The stimulus frequency was set to 1 Hz.

examined with diﬀerent stretch impulses and durations. The application of stretch starts in the diastolic phase. In both sets of simulations the calculated model variables were stored and processed. The complex stretch model (equation 7.1) is parameterized and used in the following simulations. The parameterization was performed by ﬁtting data measured in single guinea pig ventricular myocytes [155] with methods similar to those presented in [205]. The parameters are SACSL = 7, SLHST = 2.4 µm, gN a−stretch = 15 nS, gK−stretch = 30 nS, gCa−stretch = 0.1 nS, gAn−stretch = 15 nS, and EAn−stretch = −20 mV . The simulations deliver information concerning the mechanisms of mechano-electric feedback. The inﬂuence of static stretch on the course of the transmembrane voltage and the intracellular calcium concentration is illustrated in Fig. 7.23 and Fig. 7.24. Hereby, the stretch amplitude is speciﬁed by the length of the sarcomere with a default of 2 µm. The resting voltage as well as the progression of the action voltage are dependent on the length of the sarcomere ranging from 1.6 to 2.2 µm. The resting voltage as well as the course of the action voltage are dependent on the length of the sarcomere ranging from 2.0 to 2.2 µm. The resting voltage increases and the duration of the action voltage decreases with larger sarcomere length. Both eﬀects can be attributed to the raise of the sarcolemmal conductances. The maxima of the transmembrane voltage are independent of stretch. The inﬂuence of mechanical stretch impulses is depicted in Fig. 7.25 and Fig. 7.26. In the presented simulations the stretch amplitude and duration were varied. Once again, the stretch amplitude was speciﬁed by the length of the sarcomere with a default of 2 µm. Depending on the amplitudes and

7.3 Excitation Propagation

189

Fig. 7.24. Simulations with varied static length of sarcomere (continued). (a) concentration of calcium bound to troponin C and (b) concentration of calcium in the release part of the sarcoplasmic reticulum dependent on length of sarcomere calculated with Noble-Varghese-Kohl-Noble model. The cell is excited by applying a stimulus current at t = 25 ms with a length of 3 ms. The sarcomere length ranges from 2.0 to 2.2 µm. The default length of the sarcomere is 2 µm. The stimulus frequency was set to 1 Hz.

the length an eﬀect ranging from a small change of the resting voltage to an excitation of the cell was achieved. The simulation presented in Fig. 7.25 (a) shows the initiation of an action impulse by a relatively small stretch duration only for large sarcomere length. The simulations with sarcomere length 2.5 µm show an increase in the duration of the action impulse with the exception of the results with a relatively long stretch duration depicted in Fig. 7.26 (a) and (b). The initiation of early afterdepolarizations (EAD) is apparent in Fig. 7.25 (d) and 7.26 (a) for sarcomere lengths 2.4 and 2.5 µm, and for length 2.4 µm, respectively. The classiﬁcation of the EADs was performed using the description of [206] by examination of the activation and inactivation gates of the L-type calcium channels during the plateau phase. All these eﬀects are primarily attributed to the raise of the sarcolemmal conductances by stretch. The stretch dependence of intracellular structure inﬂuences the course of the transmembrane voltage only to a small degree.

7.3 Excitation Propagation 7.3.1 Experimental Studies Measurement Systems. The propagation of electrical excitation in the heart is commonly measured by temporal and spatial registration of voltages resulting from cardiac current ﬂow. Cellular processes generate the current

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7 Cardiac Electrophysiology

Fig. 7.25. Simulation of initiation of action impulse by dynamic stretch simulated with Noble-Varghese-Kohl-Noble model. At t = 25 ms a mechanical stretch of (a) 5 ms, (b) 10 ms, (c) 20 ms, and (d) 50 ms was performed delivering a sarcomere length from 2.3 to 2.5 µm. The default length of the sarcomere is 2 µm. Some combinations of stretch and length lead to action impulses, others increase the transmembrane voltage insuﬃciently for activation.

ﬂow, i.e. the transmembrane current responsible for the de- and repolarization of myocytes (Sect. 7.2.1). Electrocardiographic, magnetocardiographic and optical systems were developed to register the propagation of electrical excitation. Electrocardiographic systems measure so-called electrocardiograms, which are registered via electrodes and ampliﬁed for further processing [207]. An electrocardiogram consists of voltages, which are assigned to diﬀerent points in time. These voltages can be alluded to the intra- and extracellular domain as well as over the membrane. Magnetocardiographic systems produce magnetocardiograms, whereby the magnetic ﬁeld resulting from the electrical current ﬂow is registered [208]. This current ﬂow is composed of intracellular, extracellular and transmembrane currents.

7.3 Excitation Propagation

191

Fig. 7.26. Simulation of initiation of action impulse by dynamic stretch simulated with Noble-Varghese-Kohl-Noble model (continued). At t = 25 ms a mechanical stretch of (a) 100 ms, and (b) 200 ms was performed delivering a sarcomere length from 2.3 to 2.5 µm. The default length of the sarcomere is 2 µm.

Optical systems work in conjunction with voltage sensitive dyes, video recordings and image processing. Commonly, the course of transmembrane voltage is scanned at surfaces of extracorporated hearts and multicellular preparations. The electrocardiography is the primary tool in clinical diagnosis. Hereby, the electrocardiograms are registered via electrodes, ampliﬁed and commonly visualized for visual analysis. A distinction commonly made for medical measurement systems concerns the placement of the registration. Hereby, extraand intracorporal systems are distinguished. Of diagnostic importance is the extracorporal registration via electrodes at the body surface, whereby diﬀerent arrangements of electrodes are used to produce e.g. the leads of Einthoven, Goldberger and Wilson. The extracorporal registration delivers voltages resulting from the distribution of current sources in the heart and the conductivity distribution in the body (Fig. 7.27). A spatial discrimination of the excitation process is possible by analysis with numerical methods and by usage of background knowledge concerning the electrophysiology of the heart. Nevertheless, an automated, computer-based analysis is still topic of research. Alternatively, in clinical diagnosis intracorporal methods allow a simpliﬁed spatial discrimination and deliver additional information. Hereby, voltages are measured e.g. at the subepicardial myocardium via multi-electrode socks [209] and in the endocardial cavity via multi-electrode catheters [210, 211]. Furthermore, the propagation can be observed directly at cellular and multicellular level, e.g. by registration of the • • •

transmembrane voltages with voltage clamp techniques (Sect. 7.2.1) intercellular current ﬂow through gap junctions with double cell voltage clamp techniques (Sect. 7.2.1) extracellular voltages in the near-by of an excited structure (Fig. 7.28).

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Fig. 7.27. Exemplary electrocardiogram for physiological excitation propagation in normal, adult humans. Commonly, the P wave takes less than 100 ms, the PQ interval less than 200 ms, and the QRS wave less than 100 ms. The duration of the QT interval is dependent on the cycle rate. E.g. for a cycle rate of 70 min−1 a duration of 320 − 390 ms is observed [152].

The registration, analysis and automatic classiﬁcation of electrocardiograms is a basic function of many biomedical instruments and software packages. E.g. the stimulus delivery of pacemakers as well as external and implanted deﬁbrillators are controlled by features extracted from electrocardiograms. Also, the measurement of excitation propagation velocity necessitates the detection of activation times in electrograms. Mechanisms. The mechanisms of macroscopic excitation propagation through the heart was examined by various studies since the begin of the twentieth century [128, 124, 117, 126]. The studies showed, that the normal electrical excitation is cyclical and precedes the mechanical contraction. The chronological order of activation was found to be similar in hearts of mammals. As initiator of the physiological excitation serves the sinus node. Then, the excitation propagates over the right atrium to the atrioventricular node and via the Bachmann bundle to the left atrium. The atrioventricular node delays the propagation. Afterwards, the His bundle, the fast conducting Tawara bundle branches and the subendocardially located Purkinje ﬁbers are activated. Subsequently, the excitation passes to the subendocardial ventricular myocardium, wherefrom the excitation traverses the ventricles to their epicardial surface.

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Fig. 7.28. Electrograms measured at surface of papillary muscle. The papillary muscle was excised from a rabbit’s right ventricle and placed in a ﬂow-through bath. The musle is ﬁxed at both ends, i.e. the onset of the tendon and proximal to its former attachment to the ventricle wall. A stimulus was given at t=1 ms with a length of 1 ms proximal to the former attachment. Electrograms were measured at several positions along the muscle, i.e. near to the stimulus electrode, indicated by 0 mm, and in a distance of 1, 2, 3, and 3.6 mm. Activation times can be detected by analysing the electrograms, e.g. by searching for maximal negative slopes in the region after the stimulus artefact.

The excitation propagation process can be registered with extracorporal electrodes (Fig. 7.27). The propagation through the atria corresponds to the P wave. The propagation through the ventricles is reﬂected by the QRS wave, their repolarization by the T wave. Further studies of diﬀerent types, e.g. with double cell voltage clamp techniques (Sect. 7.2.1) and genetically modiﬁed cells [97], showed that the intercellular excitation propagation is resulting from a ﬂow of current primarily through gap junctions. The current ﬂow is depending on the diﬀerences of the intracellular potential. Hence, the cellular electrophysiology, i.e. the upstroke velocity of the transmembrane voltage, determines the excitation velocity. Primarily, sodium and potassium ions serve as charge carrier. Coupling via gap junctions between cardiac myocytes and ﬁbroblasts is reported, e.g. by connexin45 in the sinoatrial node and connexin43 in rat ventricular cell cultures [212, 213]. The electrophysiological implications of this coupling are still topic of research. Experimental studies of the mechanisms of microscopic propagation of electrical excitation through the myocardium showed diﬀerent phenomena depending on the scale of observation [214, 215]. In the scale of single cells a discontinuous, stochastic propagation is found resulting from the irregular

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cellular shape and the inhomogeneous gap junction distribution. In a larger scale a continuous, anisotropic propagation is observed. The anisotropy is resulting from the myocyte orientation dependent, averaged distribution of gap junctions. A variety of phenomena can be initiated by experiments, whereby specifically timed and located electrical stimulus sequences are applied [216, 217, 218]. Similar stimulus sequences applied via endocardial catheter electrodes are used in clinical electrophysiological examinations for an evaluation of the heart. An important arrhythmogenic phenomenon is the unidirectional block for excitation propagation, which can be found in excitable media commonly resulting from static or dynamic inhomogeneities. A unidirectional block can be generated with a suitably located and timed stimulus of the excitable media, e.g. of the atrial and ventricular myocardium. The stimulus is suitably located and timed, if the stimulus is located with one part in a non-excitable area, with the other in an excitable area. The non-excitability of the area results from an electrophysiological cellular status in which the cell cannot be activated by an early secondary stimulus. In this case the excitation propagates in the direction opposite to the blocked area. Depending on the dimension of the excitable media, diﬀerent phenomena resulting from a unidirectional block can be observed: In a one-dimensional domain the block leads to a propagation in the opposite direction, while normally a stimulus is followed by two propagation fronts in each direction. A block in a non-homogeneous two-dimensional area can lead to a rotating wave around obstacles, which is reported e.g. in the right and left atrium [217, 218]. The block can also lead to single or multiple spiral waves. The spiral waves can rotate freely, no obstacles or channels of muscle structures are necessary. The three-dimensional equivalent for spiral waves are scroll waves. 7.3.2 Modeling Approaches Diﬀerent modeling approaches of the excitation propagation in the myocardium can be distinguished depending on the representation of the microscopic and macroscopic anatomy as well as depending on the approximation of the cellular electrophysiology. Modeling approaches that use only macroscopic information allow the combining of cells and their common treatment. In contrast, models using microscopic anatomical information at a cellular level split cells in components, which are separately treated. In the last years diﬀerent approaches for the macroscopic excitation propagation were developed: • •

cellular automata reaction diﬀusion systems

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Gap junction Myocyte Extracellular space

Fig. 7.29. Modeling of electrical intercellular coupling. Adjacent myocytes are coupled via gap junctions and through the extracellular space.

Microscopic and macroscopic models allow the inclusion of anisotropic effects resulting from the orientation of myocytes, e.g. by using conductivity tensors. Commonly, the methods are applied on a one-, two- or three-dimensional lattice (Fig. 7.29), whereby each cell’s intracellular space is coupled directly only with the intracellular space of adjacent cells. Microscopic Models. Microscopic models use anatomical information of the cellular architecture acquired with microscopy to reconstruct the excitation propagation in a region of the myocardium [219, 214]. The region is divided in diﬀerent areas, which are assigned to the intra- and extracellular space, the membrane of myocytes and capillaries. The membrane areas include an electrophysiological description, i.e. the sarcolemmal ionic currents from a cell model. The current ﬂow between the areas is modeled with Ohm’s law using resistors. The approach allows the inclusion of irregularities of the cellular architecture as well as inhomogeneities of the orientation and distribution of gap junctions. Hence, anisotropic eﬀects are implicitly included. Microscopic models allow the reconstruction of experimental results, whereby the inhomogeneous microstructure of the myocardium is of importance. An example therefore is the discontinuous excitation propagation found at cellular level [214, 215]. The microscopic modeling of the myocardium is restricted to a small volume, because of the high expense to describe each single cell with a number of complex and coupled elements. 7.3.3 Cellular Automata Cellular automata are applied as models of natural processes in various disciplines, e.g. in physics, chemistry, biology, and medicine. A large number of diﬀerent cellular automata were developed to model the excitation process in the heart [220, 221, 222, 223, 224, 225, 226, 227, 228, 142, 37]. Cellular models

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(a)

(b)

Fig. 7.30. Three-dimensional neighborhood of cells in cellular automaton. The grey labeled central cell communicates with (a) 6 and (b) 26 neighbors (from [37]).

were used in the early work of Wiener and Rosenblueth (1946) to describe phenomena of excitation propagation in two-dimensional sheets of cardiac muscle [220] and of Moe et al. (1964) to model atrial ﬁbrillation [221]. Recently published works showed that cellular automata are capable of eﬃcient simulation of excitation propagation in the whole heart. Furthermore, tissue speciﬁc and stimulus frequency dependent courses of the transmembrane voltage as well as tissue speciﬁc anisotropy of excitation velocities are taken into account in these simulations [225, 228, 142]. A cellular automaton can be divided in two components [229, 230]: • •

regular, discrete, inﬁnite network representing the underlying spatial structure. ﬁnite automaton working at each node (so-called cell) of the network.

Each cell communicates with a ﬁnite set N of other cells. The number and the arrangement of the cells with which a cell communicates determines the neighborhood of the cellular automaton. Classical neighborhoods are the nearest neighbors neighborhoods of von Neumann or Moore. In case of threedimensional cellular automata these are the 6- and 26-neighborhood, respectively (Fig. 7.30). The neighborhood determines the shape of the wave front (Fig. 7.31). The set N is usually ﬁxed and is an ordered subset of the set of all cells Z. The communication between cells is performed in a local, deterministic, uniform and synchronous way. Hence, the global evolution of the system is predetermined running the cellular automaton along discrete time steps [229].

7.3 Excitation Propagation

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Fig. 7.31. Excitation wave simulated with a cellular automaton in a threedimensional slice of 256 x 256 x 3 elements with a size of 0.2 mm x 0.2 mm x 0.2 mm modeling the electrophysiology of atrial cells. The simulated transmembrane voltage is color coded illustrated at diﬀerent time steps. (a) Initially, the area is in the resting state with all cells at resting voltage. (b) A stimulus was applied followed by (c-g) a wave propagating over the area. The shape of the wave front is resulting from the 26-neighborhood used in the cellular automaton for the communication between cells. (h) Finally, the area is returned to the resting state with all cells at resting voltage.

Model of Werner, Sachse, Seemann, and D¨ ossel. The three-dimensional automaton simulates the propagation of electrical excitation with models ranging from areas of myocardium up to the whole heart [227, 231, 142, 37]. Anisotropy of the myocardium and frequency dependent changes of the course of the transmembrane voltages are taken into account. As underlying spatial structure anatomical models of the myocardium and of the whole heart can be used. E.g. the whole heart model used in the subsequently described simulations consists of a classiﬁed anatomical tissue data set (section 6.4.5) derived from the Visible Man data set, a myocyte orientation data set and a specialized cardiac conduction system tree. While the myocyte orientation data set has only an impact on the local transition function, the conduction system tree varies the neighborhood of the cells located at the nodes of the tree. Hence, unlike classical cellular automata, the neighborhood N varies. For cells located at the nodes of the tree the 26 ﬁxed neighbors are extended by the set of successors and one predecessor deﬁned by the conduction system tree. However, most of the cells have a ﬁxed set Nf ixed of 26 neighbors, whereas only for a very small number of the cells, approximately 0.01 %, the neighborhood N varies.

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Fig. 7.32. Color coded transmembrane voltage distribution of subepicardial myocardium resulting from the simulation of a sinus rhythm (from [37]). The simulation is performed with a cellular automaton. Tissue speciﬁc variations of the maxima and duration of the transmembrane voltage are visible. Diﬀerent time steps of the excitation process are visualized. The excitation starts in the sinus node located in the upper right atrium and propagates over the atrial myocardium. The atrioventricular node delays the propagation, which continues then spreading over the Tawara branches to the subendocardial Purkinje ﬁbers. Finally, the excitation propagates over the ventricular myocardium.

The ﬁnite automaton at each node is conﬁgured with results from published measurements [23] and from simulations with electrophysiological cell models, e.g. simulations similar to those shown in Fig. 7.21. For that purpose, a large number of simulations was performed varying the cell model and the stimulus frequency. The simulations deliver tissue and stimulus frequency speciﬁc courses of the transmembrane voltage and of the excitation velocity. The result of a simulation with the cellular automaton is the temporal and spatial distribution of the transmembrane voltage for each cell (Fig. 7.31, Fig. 7.32 and Fig. 7.33). This distribution can be used in subsequent numer-

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Fig. 7.33. Volume visualization of color coded transmembrane voltage distribution resulting from the simulation of a sinus rhythm (from [37]). The ﬁgure shows the same time steps as Fig. 7.32. The propagation through the volume of the heart, e.g. from the subendocardial located Purkinje ﬁbers to the ventricular myocardium, is observable.

ical calculations of physical ﬁelds in the human body (Sect. 7.3.4), e.g. the calculation of the current source distribution in the heart (Fig. 7.34) and of the extracellular potentials in the whole body (Fig. 7.35). The potentials at the body surface can be used to determine electrocardiograms (Fig. 7.36). Hereby, for each time step the potentials at diﬀerent points on the body surface are read out. The electrocardiograms of diﬀerent type, e.g. Einthoven, Goldberger and Wilson leads, are calculated by their diﬀerences and averages. Simulation of unidirectional blocks, spiral and scroll waves. A unidirectional block can be simulated with the cellular automaton for a suitably located and timed stimulus in the repolarization phase of the excitable media, e.g. atrial and ventricular myocardium [221, 224, 228, 232, 233]. In this case the excitation propagates in the direction opposite to the block. A stimulus is

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Fig. 7.34. Volume visualization of color coded current source density distribution of simulated sinus rhythm (from [37]). Diﬀerent time steps of the excitation process are visualized. The sources are calculated with the bidomain model. They occur at places with a gradient of the transmembrane voltage, primarily at the front of the excitation propagation. No sources are found in the fully activated atrial and ventricular myocardium.

suitably located and timed, if it is located with one part in a non-excitable area, with the other in an excitable area. Depending on the dimension of the simulated area, diﬀerent phenomena of excitable media resulting from a unidirectional block can be reconstructed in simulations with the cellular automaton. The reconstructability is depending on the speciﬁc implementation of the automaton. While normally a stimulus in a one-dimensional domain is followed by two propagation fronts in each direction, a block leads to a propagation in the opposite direction. In an inhomogeneous two-dimensional domain a block can lead to a wave rotating around obstacles (Fig. 7.37). The block can produce single and multiple spiral waves, too. The spiral waves can rotate freely. No obstacles or speciﬁcally arranged geometrical structures are necessary. In sim-

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Fig. 7.35. Color coded body surface potential map of sinus rhythm (from [37]). Different time steps are visualized. The voltages at the body surface resulting from the cardiac sources are calculated with the ﬁnite diﬀerence method and a conductivity model of the whole body [26].

ulations with three-dimensional domains scroll waves can be reconstructed. The cellular automaton allows an eﬃcient simulations in large and complex models, e.g. atrial and ventricular ﬂutter can be simulated with models of the whole heart (Fig. 7.38 and Fig. 7.39). Simulated radiofrequency (RF) ablation in right human atrium. A clinical option for the treatment of chronical atrial ﬂutter is the catheter ablation therapy with radiofrequency current [234]. The applied current destroys cells in areas of the atrial myocardium, so that an excitation propagation through the area is suppressed. Commonly, lines of myocardium are ablated with endpoints at the ostia of the atrium, e.g. to the vena cava superior and inferior. The location of the lines has to be chosen so, that a propagation from the sinus node to the atrioventricular node is still possible and the atrial ﬂutter is permanently terminated.

7 Cardiac Electrophysiology

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Fig. 7.36. Simulated electrocardiograms of sinus rhythm (from [37]). (a) Einthoven lead I, II and III, (b) Goldberger leads aVR, aVL and aVF, (c) Wilson leads V1, V2 and V3, (d) Wilson leads V4, V5 and V6.

The cellular automaton is capable of simulating the atrial ﬂutter and the electrophysiological eﬀects of an ablation therapy. In the exemplary simulation illustrated in Fig. 7.40 the atrial ﬂutter is represented by a rotating wave around the vena cava inferior. The rotation wave is terminated after execution of two ablation lines. A ﬁrst line is set in the dorsal right atrial wall from the vena cava inferior to the vena cava superior. The ﬁrst line results in a rotating wave around the

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Fig. 7.37. Rotation of wave around an obstacle simulated with cellular automaton in a three-dimensional slice of 256 x 256 x 3 elements with a size of 0.2 mm x 0.2 mm x 0.2 mm modeling the electrophysiology of atrial cells. The simulated transmembrane voltage is color coded illustrated at diﬀerent time steps. (a) A ﬁrst stimulus was applied followed by (b) a wave propagating over the obstacle. (c) A second stimulus in the repolarization phase leads through a unidirectional block to an excitation propagation in the opposite direction. (d-f) The excitation propagates around the obstacle.

vena cava inferior and the ablation line, which leads to an increase of the cycle duration of the ﬂutter. A second line is set orthogonal in the right area of the right atrium leading to a termination of the ﬂutter. The ablation still permits the propagation from sinus node to the ventricles via the atrioventricular node, but a reinitiation of ﬂutter with the same stimulus sequence is not possible. 7.3.4 Reaction Diﬀusion Systems Overview. Reaction diﬀusion systems, which are also known as excitable dynamics equations, use a system of non-linear partial diﬀerential equations to describe the excitation and propagation process in excitable media [235]. The system consists of n equations of the following type: ∂ui = fi (u1 , . . . , un ) + ∇ · (Di ∇ui ) ∂t

i = 1, . . . , n

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Fig. 7.38. Atrial ﬂutter simulated with cellular automaton (from [37]). (a) A stimulus in the repolarization phase of the atrial myocytes leads through a unidirectional block to an excitation propagation in the opposite direction. The excitation propagates unidirectionally along the musculi pectinati. The reentry takes place at the dorsal right atrium near to the vena cava inferior. The excitation rotates around the ostium of the vena cava inferior. (b) The electrocardiogram shows a high frequency pattern for the atrial ﬂutter in conjunction with normal QRS-complexes.

with the state variables ui , the excitation term fi and the diﬀusion tensor Di . In the context of cardiac excitation propagation, the state variables ui correspond to the cellular status, e.g. transmembrane voltage, ionic channel

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Fig. 7.39. Ventricular ﬂutter simulated with cellular automaton (from [37]). (a) A stimulus in the repolarization phase of the left ventricular myocytes leads to a unidirectional block followed by ventricular ﬂutter. (b) The electrocardiogram shows a high frequency pattern for the ventricular ﬂutter.

conductivity and ionic concentrations. The change of the state variables is determined by the excitation term fi and the diﬀusion term ∇ · (Di ∇ui ).

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Fig. 7.40. Simulation of RF ablation in human right atrium with ﬂutter (from [37]). The ablation lines are labeled in white.

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Depending on the dimension n of the equation system as well as on the formulation of the excitation and diﬀusion terms diﬀerent types of models can be distinguished: • •

simpliﬁed approaches combinations of electrophysiological cell models with electrical current ﬂow models – monodomain models with resistor networks or Poisson’s equation – bidomain models with Poisson’s equation

Simpliﬁed Approaches Model of FitzHugh and Nagumo. An early representation of the simpliﬁed approaches for excitation propagation is the two state FitzHugh-Nagumo model [236]: 3

u − u3 − v ∂u = + D∇2 u ∂t ∂v = (u + β − γv) ∂t with the state variable u for the transmembrane voltage and the state variable v for inhibition. The diﬀusion term is formulated for isotropic media with the √ scalar diﬀusion coeﬃcient D. Typical parameters are 0 < |β| < 3, 0 < γ < 1 and 1. Model of Rogers and McCulloch. A modiﬁcation of the FitzHugh-Nagumo equations allows a more realistic description of the propagation in the myocardium [237, 238]: ∂u = c1 u(u − a)(1 − u) − c2 uv + ∇ · (D∇u) ∂t ∂v = b(u − dv) ∂t with the diﬀusion tensor D, and the membrane parameters a, b, c1, c2, and d. The additional parameters are used to reconstruct the course of the transmembrane voltage of ventricular myocytes. The state variables u and v describe as in the FitzHugh-Nagumo equations the transmembrane voltage and the inhibition. The boundary condition ∂u =0 ∂n is added, which allows to deﬁne the derivative of the transmembrane voltage at borders with normal n. The equations were used in conjunction with ﬁnite element techniques to simulate the excitation propagation in two-dimensional sheets of myocardium. Further adaptations of the FitzHugh-Nagumo equation in the area of cardiac electrophysiology are found in [239, 240, 241].

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Combinations of Electrophysiological Cell Models with Electrical Current Flow Models. A biophysically well-founded approach consists of combining detailed electrophysiological models of single myocardial cells with models of the electrical current ﬂow through the intra- and extracellular space as well as the gap junctions. The electrophysiological cell models describe the concentration and ﬂow of ions as well as the conductivity of cellular structures and the transmembrane voltage by a set of coupled diﬀerential equations. Two main representatives of these combined models were developed differing in the number of domains for the electrical current ﬂow: mono- and bidomain models. The combined models are further distinguished depending on the representation of the conductivity used for the electrical current ﬂow model. Hereby, approximations with isotropic and anisotropic conductivities represented by resistors as well as conductivity tensors of ﬁrst or second rank are known. Monodomain Models. The monodomain models incorporate the eﬀect of coupled intracellular space with gap junctions by resistors [242, 243, 244] or conductivity tensors. In each time step and for each cell two calculations are performed: • •

computation of the summary intracellular current source density fi using a model of intercellular current ﬂow updating of the status of the electrophysiological cell model using the current source densities fsi

The summary intracellular current source density fi can be calculated outgoing from Poisson’s equation: ∇ · (σi ∇Vm ) = fi

(7.2)

with the transmembrane voltage Vm and the intracellular conductivity tensor σi , describing conductivities for intracellular space and gap junctions. The summary intracellular current source density fi consists of two diﬀerent components: fi = βItm − fsi

(7.3)

with the intracellular current source density fsi , the transmembrane current Itm , and the myocytes per volume ratio β, allowing the conversion from currents to current source densities. The current Itm describes the summary ﬂow through the membrane given by the electrophysiological model: Itm = Cm

∂Vm + Im ∂t

(7.4)

with the membrane capacitor Cm and the ionic current Im , which is a function of the transmembrane voltage Vm . Additional stimulus currents are neglected. The inclusion of these deﬁnitions (equations 7.2-7.4) delivers the complete equation:

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∂Vm + Im − fsi ∇ · (σi ∇Vm ) = β Cm ∂t Numerically motivated the complete equation can be transformed to:

fsi + ∇ · (σi ∇Vm ) ∂Vm 1 = − Im ∂t Cm β The transformed equation is commonly solved with the ﬁnite-diﬀerence or ﬁnite-element method for the underlying generalized Poisson equation (Sect. 3.3) and the Euler or Runge-Kutta methods for the underlying ordinary diﬀerential equation (Sect. 2.5). Bidomain Models. The bidomain models are an extension of monodomain models including the eﬀects of the extracellular space [245, 246, 247, 248, 249]. The bidomain model treats the electrical behavior of tissue in two domains, in the intracellular and extracellular space, which are separated by the cell membrane. In each domain Poisson’s equation for ﬁelds of stationary electrical current is fulﬁlled: ∇ · (σi ∇φi ) = βItm − fsi ∇ · (σe ∇φe ) = −βItm − fse with the intracellular potential φi , the extracellular potential φe , the intracellular conductivity tensor σi , the extracellular conductivity tensor σe , the intracellular stimulus current source density fsi , the extracellular stimulus current source density fse , and the myocyte per volume ratio β. The intracellular conductivity tensor σi consists of conductivities for the intracellular space and for the gap junctions. The domains are coupled by the summary current Itm through the cell membrane and by the deﬁnition of the transmembrane voltage: Vm = φi − φe The summary membrane current Itm vanishes in the summation of the two Poisson’s equations: ∇ · (σi ∇φi ) + ∇ · (σe ∇φe ) = −fsi − fse

(7.5)

The following method can be chosen to couple the bidomain equations with the electrophysiological cell models (Fig. 7.41) [250]. The method uses a decomposition of the intracellular Poisson’s equation: ∇ · (σi ∇φi ) = ∇ · (σi ∇(Vm + φe )) = ∇ · (σi ∇Vm ) + ∇ · (σi ∇φe ) and of the summation equation (equation 7.5): ∇ · (σi ∇φi ) + ∇ · (σe ∇φe ) = ∇ · (σi ∇Vm ) + ∇ · ((σi + σe )∇φe ) The method bases on the iterative solving of Poisson’s equations with numerical techniques:

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Initialization

Calculation of conductivity tensors

Finished ?

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End

Fig. 7.41. Bidomain modeling of cardiac electrophysiology. The depicted modeling includes the possible adaption of conductivity, e.g. to incorporate deformation, which is neglected in traditional bidomain formulations.

• • • •

calculation of extracellular current sources fe with the transmembrane voltage Vm delivered by the electrophysiogical model computation of extracellular potentials φe with the extracellular current source densities fe calculation of summary intracellular stimulus current source density fi with the transmembrane voltage Vm and the extracellular potentials φe updating of the status of the electrophysiological cell model using the current source densities fsi

The formulation neglects the extracellular stimulus current fse for simplicity of description. In a ﬁrst step the extracellular current source density fe delivered by the transmembrane voltage Vm is determined: ∇ · (σi ∇Vm ) = fe In a second step the extracellular potential φe is calculated from the current source density fe : ∇ · ((σi + σe )∇φe ) = −fe The calculation of φe is commonly numerically expensive, because the solving of a large system of linear equations is necessary. In a third step the summary intracellular current source density fi is determined: ∇ · (σi ∇Vm ) + ∇ · (σi ∇φe ) = fi

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The incooperation of the electrophysiological model’s equation (equation 7.4) and the separation of the intracellular current source density fi (equation 7.3) lead to a combined equation:

∂Vm + Im − fsi ∇ · (σi ∇Vm ) + ∇ · (σi ∇φe ) = β Cm ∂t with the membrane capacitor Cm and the ionic current Im delivered by the electrophysiogical model. The combined equation is numerically motivated transformed to:

fsi + ∇ · (σi ∇Vm ) + ∇ · (σi ∇φe ) 1 ∂Vm = − Im ∂t Cm β Commonly, the ﬁnite-diﬀerence or ﬁnite-element method is applied to solve the underlying generalized Poisson equations (Sect. 3.3). The Euler or RungeKutta methods is used to solve the underlying ordinary diﬀerential equation (Sect. 2.5). Simulations. A set of simulations was performed to illustrate the excitation propagation model consisting of a combination of electrophysiological cell models with electrical current ﬂow models. The simulations aim at the gain of knowledge, which is of importance for the construction of whole heart electromechanical models. Furthermore, they allow a comparison with cellular automata models. As electrophysiological cell models served the Courtemanche-RamirezNattel and Noble-Varghese-Kohl-Noble model [187, 189], which were solved with the Euler method. As current ﬂow model the bidomain model was applied in conjunction with isotropic and anisotropic conductivities as well as with the ﬁnite-diﬀerence method to solve Poisson’s equation. A time step of 0.025 ms was used for the repeated calculation of the electrophysiological and electrical current ﬂow model. Two-Dimensional Simulations. Spiral waves of diﬀerent types were initiated in simulations with thin, plane slices approximating atrial myocardium. The slices consisted of 128 x 128 x 3 voxels with a size of 0.2 mm x 0.2 mm x 0.2 mm. Hereby, the bidomain model with isotropic extra- and intracellular conductivities was utilized in conjunction with the Courtemanche-RamirezNattel model for atrial myocytes. Stimulus sequences as described in Sect. 7.3.3 were used to create a unidirectional block with an excitation wave propagating in the opposite direction. The generation and evolution of freely rotating spiral waves are shown in Fig. 7.42. A wave rotating around an obstacle is illustrated in Fig. 7.43. Three-Dimensional Simulations. In further simulations the physiologic and pathophysiologic excitation propagation in an area of the ventricular free wall was explored (Fig. 7.44). Hereby, an adapted Noble-Varghese-Kohl-Noble

212

7 Cardiac Electrophysiology

(a)

(b)

(c)

(d)

(e)

(f)

Fig. 7.42. Freely rotating spiral waves simulated with the bidomain model in a three-dimensional slice of 128 x 128 x 3 elements with a size of 0.2 mm x 0.2 mm x 0.2 mm modeling the electrophysiology of atrial cells. The simulated transmembrane voltage is color coded illustrated at diﬀerent time steps. (a) A ﬁrst stimulus was applied followed by a wave propagating over the whole area. (b) A second stimulus in the repolarization phase leads through a unidirectional block to an excitation propagation in the opposite direction. The timing and geometry of the stimulus create two mirrored rotors. (c-f) The two rotors generate spiral shaped wave fronts. The further behavior is primarily determined by the velocity of the excitation wave in the core of the rotors. Various eﬀects were observed, e.g. meandering of the rotors as well as extinction, generation and detachment of wavelets.

model for ventricular myocytes was applied. The adaptation concerns the integration of a potassium current Ito , which was found to be dependent on the depth in the wall [160, 251, 252]. The bidomain model with anisotropic conductivities published in [248] was used. The area was described with 150 x 150 x 125 voxels, each with a size of 0.2 mm x 0.2 mm x 0.2 mm. The myocyte orientation was incorporated varying from the subepicardial to the subendocardial myocardium. An angle of -70◦ is assigned for the orientation at the ventricular subepicardial myocardium, an angle of 70◦ at the subendocardial myocardium [111][112]. The orientation in the space lying in between is interpolated outgoing from these boundary conditions by iterative averaging [64].

7.3 Excitation Propagation

(a)

(b)

(c)

(d)

(e)

(f)

213

Fig. 7.43. Rotation of wave around an obstacle simulated with the bidomain model in a three-dimensional slice of 128 x 128 x 3 elements with a size of 0.2 mm x 0.2 mm x 0.2 mm modeling the electrophysiology of atrial cells. The obstacle consists of inactive cells with no intercellular coupling. The simulated transmembrane voltage is color coded illustrated at diﬀerent time steps. (a) A ﬁrst stimulus was applied followed by (b) a wave propagating over the obstacle. (c) A second stimulus in the repolarization phase leads through a unidirectional block to an excitation propagation in the opposite direction. (d-f) The excitation propagates around the obstacle. The further behavior is determined by the velocity of the excitation wave in relation to the geometry of the obstacle. An extinction as well as a detachment of the wave from the obstacle is possible.

The excitation of the heart wall is initiated at the subendocardial myocardium by applying pointwise a suﬃciently large intracellular current. The points model location of myocytes with connections to Purkinje ﬁbers. The applying of current starts at apical points and wanders in basal direction. The physiologic excitation propagation in the ventricular free wall is visualized by evolution of the transmembrane voltage Vm (Fig. 7.45 (a) and Fig. 7.46). The propagation from the subendocardial to the subepicardial myocardium is reconstructed as well as the evolution of the repolarization. The evolution of the repolarization is found to be not similar to the depolarization. This behavior is observed in measurements. The diﬀerences are attributed to the variation of the potassium current Ito . Similar diﬀerences are found for the

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7 Cardiac Electrophysiology

Fig. 7.44. Model of heart wall in anatomical context of whole heart. The model consists of 150 x 150 x 125 elements with a size of 0.2 mm x 0.2 mm x 0.2 mm modeling the electrophysiology of ventricular cells. The orientation of myocytes and the contribution of the ionic current Ito are varying in the cells from endocardium to epicardium. The cells are electrically coupled via the bidomain model using anisotropic conductivities.

evolution of the concentration of intracellular calcium [Ca2+ ]i (Fig. 7.45 (b) and Fig. 7.47). These diﬀerences lead to a non-homogeneity of the force development, which is not only depending on the process of excitation propagation, but also on the position in the heart wall. A scroll wave is a representative of pathophysiologic excitation propagation (Fig. 7.48 (a)). The scroll wave is linked with signiﬁcant changes of the concentration of intracellular calcium [Ca2+ ]i (Fig. 7.48 (b)). 7.3.5 Comparison of Macroscopic Models of Excitation Propagation A comparison of traditional cellular automata and the reaction diﬀusion systems shows diﬀerences in the characteristics of the wave front and the reconstructability of cellular phenomena. These diﬀerences are observable in physiologic and pathophysiologic cases of the excitation propagation. Furthermore, signiﬁcant distinctions are found concerning the demand of computing and main memory resources. As characteristics of the wave front are considered its curvature and velocity. The wave front curvature of the reaction diﬀusion models is less obviously inﬂuenced by the neighborhood relationship of cells as of the traditional cellular automata [216]. An extreme case of inﬂuence can be found using the 6-neighborhood in cellular automata, which delivers rectangular propagation patterns. The velocity of the wave front is found to be dependent on

7.3 Excitation Propagation

215

(a)

(b) Fig. 7.45. Simulation of electrophysiology in static model of heart wall. (a) The transmembrane voltage Vm and (b) intracellular calcium concentration [Ca2+ ]i are visualized with volume based techniques at the exemplary point in time 120 ms. The corresponding color palette is located at the right side. At the left side the course of the transmembrane voltage Vm and the intracellular calcium concentration [Ca2+ ]i in diﬀerent regions of the wall are illustrated.

its curvature in simulations with the reaction diﬀusion systems as well as in experiments with excitable media. Furthermore, the velocity varies with the stimulus frequency if the reaction term is suitably chosen. In contrast, the velocity is constant with traditional cellular automata. Whereas spirals and scroll waves generated with traditional cellular automata are stable and ﬁxed, the phenomena are commonly instable in reaction diﬀusion systems caused

216

7 Cardiac Electrophysiology

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

Fig. 7.46. Excitation propagation in static model of heart wall at diﬀerent points in time. The simulated transmembrane voltage is visualized with volume based techniques at (a) 5 ms, (b) 10 ms, (c) 15 ms, (d) 30 ms, (e) 65 ms, (f) 130 ms, (g) 290 ms, (h) 340 ms, and (i) 410 ms.

by meandering, extinction and detachment of wavelets. These facts regarding the characteristics of the wave front apply for the simpliﬁed reaction diﬀusion systems as well as for the combined systems. Diﬀerent approaches were chosen

7.3 Excitation Propagation

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

217

Fig. 7.47. Intracellular calcium concentration [Ca2+ ]i in static model of heart wall at diﬀerent points in time. The simulated concentration is visualized with volume based techniques at (a) 5 ms, (b) 10 ms, (c) 15 ms, (d) 30 ms, (e) 65 ms, (f) 130 ms, (g) 290 ms, (h) 340 ms, and (i) 410 ms.

to approximate and reconstruct these characteristics with extended cellular automata.

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7 Cardiac Electrophysiology

(a)

(b) Fig. 7.48. Simulation of scroll wave in static model of heart wall. (a) The transmembrane voltage Vm and (b) intracellular calcium concentration [Ca2+ ]i are visualized with volume based techniques at the exemplary point in time 650 ms. The corresponding color palette is located at the right side. At the left side the course of the transmembrane voltage Vm and the intracellular calcium concentration [Ca2+ ]i in diﬀerent regions of the wall are illustrated.

Cellular phenomena, e.g. EADs, DADs, and triggered activity, are commonly not reconstructed by cellular automata, although an inclusion is principally possible. The inclusion of complex cellular phenomena can be achieved by a modiﬁcation of the ﬁnite automata working at each node of the cellular automaton.

7.3 Excitation Propagation

219

The traditional cellular automata and the simpliﬁed reaction diﬀusion systems make the least demands on compute and storage resource. The demands of the combined models are primarily determined by the electrophysiological cell models and the numerical method to solve Poisson’s equation. Nevertheless, these demands are strongly depending on the speciﬁc implementation and compute platform.

8 Cardiac Mechanics

8.1 Overview The heart acts as a cyclically working pump with the task of transporting blood in the body. Primarily responsible for this transport is the contraction of the heart’s dominant structures, the left and right ventricle, which are composed of myocardial walls surrounding a cavity. The cavities are normally ﬁlled with blood and change their volume by the contraction. Resulting from this change of volume is the pumping of blood through vessels into the body. The returning blood is collected in the left and right atrium, which are built up similar to the ventricles, but with less pronounced myocardial walls. Afterwards, the blood is transported to the ventricles. The blood transport in the atria is supported by active suction of the ventricles. Diﬀerent valves control the blood ﬂow and prevent re-ﬂow. Like all types of muscle structures the myocardium consumes chemical energy to develop forces. The myocardial force development is a sub-cellular process controlled by electrophysiological parameters and depending on the availability of energy sources. Concerned with the force development are the myoﬁlaments, which are found inside of the sarcomeres and composed of actin and myosin. The forces in the ventricular wall can create a suﬃciently high pressure to distribute the blood in the body. Multiple electro-mechanical and mechanoelectrical feedback mechanisms are integrated in the heart. These mechanisms allow an automaticity and an implicit adaptation to power demands without control by super-ordinate structures. The topics of this section are the passive mechanical properties and the active force development of the myocardium. Whereas the passive mechanical properties are ascribed primarily from a macroscopic view with the continuum mechanics as foundation, the active force development is considered on cellular base in strong relationship to the sub-cellular components. In both sections experimental studies are described followed by modeling approaches. The descriptions are restricted to experiments delivering quantitative data

F.B. Sachse: LNCS 2966, pp. 221–266, 2004. c Springer-Verlag Berlin Heidelberg 2004

222

8 Cardiac Mechanics

and to biophysically motivated modeling approaches. Special focus is given to numerically eﬃcient models, which can be combined with computer-based anatomical and electrophysiological models.

8.2 Mechanical Properties of Myocardium 8.2.1 Experimental Studies A majority of initial experiments to acquire mechanical properties of myocardium was carried out with trabecular and papillary muscles of animals [30]. Alternatively, mechanical properties were determined with specimens from diﬀerent regions in the atrial and ventricular wall [253] as well as with whole ventricles [254, 255]. Furthermore, cellular mechanical properties were quantiﬁed by measurements with single or small groups of myocytes [256]. Commonly, the specimens are taken from exposed hearts. The studies were performed with the species canine, cat, rabbit, ferret and rat (table 8.1). Macroscopic and microscopic measurement devices can be distinguished dependent on the specimens size ranging from large papillary muscles to single myocytes. Uni-, bi- and triaxial measurement devices were used to measure the relationship between strain and stress, the so-called constitutive law, in myocardium. Hereby, strain is varied and the corresponding stress is measured. As well, a vice versa procedure is possible. The measurement of strain can be performed with displacement transducers, e.g. Hall eﬀect and liquid metal strain gauges, and optical systems consisting of camera and image analysis tools [274]. Partly, the devices allow the measurement of specimens inlaid in a tempered ﬂuid, which keeps the metabolism of the specimens at work despite interrupted blood perfusion. The metabolism is performed via diﬀusion, which implies a small specimens size. Hereby, the specimens are surrounded with the ﬂuid, e.g. Ringer-Tyrode and Krebs-Ringer solution, which is conveniently composed similar to blood. The temperature of the solution is often set to low values, which reduces degradation of specimens. The measurement at body temperature proves to be of advantage, because a temperature dependence of material properties is observed. The usage of noncytotoxic materials, which are also resistant to chemical degradation by the ﬂuid, is recommended for all device components, which come in contact with specimens and ﬂuids. A major diﬃculty in many studies is the attachment of specimens particularly to mechanical transducers [275]. Desirable is a uniform stress distribution with the attachment and a small compliance of the attachment. Historically, the ﬁrst measurements were made with uniaxial devices [257, 258], which are of restricted usability e.g. concerning the registration of shear and volume changes [276]. The usage of biaxial devices allowed the measurement of further components of the relationship useful to reduce indeterminateness of the stress-strain relationship [265]. A recently developed

8.2 Mechanical Properties of Myocardium

223

Table 8.1. Measurements of mechanical properties of myocardium. Date 1964 1973 1973/74 1974 1975 1976 1988 1991 1994 1995 1995

1997 1998 1998

2000 2000

2003

Publisher Sonnenblick Pinto, Fung Janz, Kubert, Moriarty, Grimm Alpert, Hamrell, Halpern Kane, McMahon, Wagner, Abelmann Rankin, Arentzen, McHale, Ling, Anderson Hunter, Smaill Guccione, McCulloch, Waldman Novak, Yin, Humphrey Hunter, Nash, Sands Moulton, Creswell, Actis, Myers, Vannier, Szab´ o, Pasque Miller, Vanni, Keller Omens, Vaplon, Fazeli, McCulloch Zile, Cowles, Buckley, Richardson, Cowles, Baicu, Cooper, Gharpuray Dokos, LeGrice, Smaill, Kar, Young Okamoto, Moulton, Pasque, Peterson, Li, Guccione Dokos, Smaill, Young, LeGrice

Tissue papillary muscle papillary muscle papillary muscle

Species Reference cat [257] rabbit [258, 30] rat [259, 260]

ventricular muscle rabbit ventricular muscle hamster

[261] [262]

ventricular muscle canine

[263]

ventricular muscle canine [264, 265] ventricular muscle canine, [266] rat ventricular muscle canine [267] ventricular muscle canine [268, 253] ventricular muscle canine [269]

ventricular muscle chicken ventricular muscle rat

[270] [271]

ventricular myocytes

cat

[256]

septal muscle

rat

[272]

ventricular muscle canine

[255]

ventricular muscle pig

[273]

triaxial device permits the application of two-dimensional shear and the measurement of three-dimensional force (Fig. 8.1) [272, 273]. Alternatively, mechanical tissue properties were measured with experiments, where suction or pressure is applied to the heart (Fig. 8.2) [269, 255]. The resulting deformation is quantiﬁed using medical imaging systems, e.g. magnetic resonance tagging, in conjunction with image processing techniques. The mechanical properties were determined with ﬁnite element models, which were adapted by nonlinear optimization techniques. Experimental studies revealed that the mechanical properties of myocardium depend strongly on the composition and arrangement of the extracellular matrix. Its dominant components are ﬁbrous proteins, i.e. collagen and elastin. A cellular component of resistance to extension was found, which was primarily attributed to cytoskeleton elements, i.e. titin and desmin [275].

224

8 Cardiac Mechanics

X−Y Force Transducer Upper Shear Platform Tissue Sample Lower Shear Platform

Pressure Transducer (Z Force Measurement) Tissue Bath

Translation Stage Z Y X Vertical Position Knobs

Y Motor Spindle

X Motor Spindle Base Stand 25 mm

Fig. 8.1. Triaxial-measurement shear-test devices for soft tissue (adapted from [272]). The device can impose shear deformation in X- and Y-direction with two linear motors. The forces in X-, Y- and Z-direction can be measured. The tissue sample is located in a bath between two circular platforms. The shear-test device is controlled and its data recorded using a computer. A shear test is performed by moving the bottom surface of the tissue sample in X- and Y-direction, while three-dimensional forces are measured.

The mechanical properties are found to be nonlinear, anisotropic and viscoelastic [263]. These characteristics are common in many biological tissues [28]. Furthermore, the volume change resultant by deformation was found to be small and signiﬁcant residual stresses are present [277, 278, 271]. Material properties of myocardium are reported to be dependent on the intracellular calcium concentration and state of active contraction [279, 256] as well as on the pressure produced by the coronary perfusion [280]. The studies by Kane et al. looked into the age dependency of the elastic modulus of ventricular myocardium [262]. An analysis of left and right ventricular pressure-volume curves of Syrian golden hamsters was performed showing no signiﬁcant age dependent variation of elastic modulus. The analysis suggested that structural changes with regard to the passive properties of myocardium are not associated with age. 8.2.2 Modeling Approaches Overview. The results of many experimental studies were used to model the relationship between strain and stress by assumption of a convenient template

8.2 Mechanical Properties of Myocardium

225

Vacuum Line

Check Valve Suction Cup

Suction Measurement Waveform Generator

Servopump

Amplifier

A/D Board Isolated Heart

MR orbit coil Holding Fixture

Computer with Data Acq. Software To MR Trigger

Fig. 8.2. Measurement system with epicardial suction (adapted from [255]). The isolated arrested heart is located in cold saline and cardioplegic solution. The borders of an epicardially placed suction cup are attached to the left ventricular free wall epicardium by continuously applied vacuum pressure. The cup oriﬁce with an opening of 2.5 cm x 2.5 cm is connected to a servo-pump providing cyclic suction. The suction is controlled with a waveform generator and recorded with a computer system. The check valve prevents large positive pressures in the suction oriﬁce, which would detached the heart and cup. A deformation of the heart is performed through pressure in the oriﬁce created in the servo-pump. The deformed heart is imaged with a MRT system triggered with the signals of the waveform generator. The images are analyzed and used in conjunction with ﬁnite element models to determine mechanical parameters.

strain energy function and parameter ﬁtting procedures (table 8.2). The parameters were determined by numerical experiments reconstructing the measurements. In the following sections some modeling approaches are described. The development of models and the inclusion of diﬀerent properties are illustrated. The properties are e.g. inhomogeneity, anisotropy, and multiple domains. In multiple domain approaches diﬀerent strain energy functions, each deﬁned on a domain, contribute to the summary strain energy. Commonly, the energy density function does not comprise plasto- and viscoelastic eﬀects. Demiray 1972. The strain energy density function proposed by Demiray aims at the resembling of the energy function of biological tissue [281] (Fig. 8.3), which was found to be entirely diﬀerent from former described materials, e.g. rubber. The biological tissue was assumed to be isotropic, homogeneous, and incompressible as wells as non-visco- and hyperelastic. The

226

8 Cardiac Mechanics Table 8.2. Models of mechanical properties of myocardium.

Date Publisher 1972 Demiray 1973/74 Janz, Kubert, Moriarty, Grimm 1974 Glantz 1976 Rankin, Arentzen, McHale, Ling, Anderson 1983 Needleman, Rabinowitz, Bogen, McMahon 1987 Humphrey, Yin 1988 1989 1990 1991 1991 1991 1993 1994 1994 1995 1995 1998 2000

2000

Horowitz, Lanir, Yin, Perl, Sheinman, Strumpf Nevo, Lanir Humphrey, Strumpf, Yin Huyghe, van Campen, Arts, Heethaar Yang, Tabber Guccione, McCulloch, Waldman Sacks, Chuong Nevo, Lanir Novak, Yin, Humphrey Guccione, Costa, McCulloch Hunter, Nash, Sands May-Newman, McCulloch Okamoto, Moulton, Pasque, Peterson, Li, Guccione Usyk, Mazhari, McCulloch

Tissue papillary muscle papillary muscle

Species cat rat

Reference [281] [259, 260]

papillary muscle cat ventricular muscle canine

[282] [263]

ventricular muscle canine

[283]

ventricular and canine papillary muscle ventricular muscle canine

[284] [285, 286]

ventricular muscle ventricular muscle canine divers divers

[287] [288, 289] [290]

papillary muscle ventricular muscle ventricular ventricular ventricular ventricular

muscle muscle muscle muscle

rabbit, [291] frog, turtle canine, [266, 254] rat canine [292] [278] canine [267] canine [293]

ventricular muscle canine ventricular muscle canine ventricular muscle canine

left ventricle

canine

[268, 253] [280] [255]

[294]

strain energy density function W was deﬁned as a function of the ﬁrst invariant I1 of the Cauchy-Green left dilation or Finger strain tensor: β α(I1 −3) e W = −1 2α with the parameters α and β. The function was constructed to resemble studies of cat papillary muscle [257]. No explicit values were given for the parameters α and β. Janz-Kubert-Moriarty-Grimm 1974. The strain energy density function proposed by Janz et al. was constructed using uniaxial measurement data from left ventricular papillary muscles of adult Sprague-Dawley albino male rats [260]. The function is depending on the principal components of strain i :

8.2 Mechanical Properties of Myocardium

227

Fig. 8.3. Strain energy density W proposed by Demiray for biological tissue dependent on ﬁrst invariant I1 of the Cauchy-Green left dilation tensor. The parameters α and β are set to 10 and 1, respectively.

E W = 2 β (1 + ν)

3 i=1

e

βi

βν 3 1 − 2ν − 1−2ν 1+ν i=1 i − e + ν ν

with Young’s modulus E, Poisson’s ratio ν, and the additional parameter β. The function assumes isotropy of myocardium. Young’s modulus E was obtained with measurement data, whereby the slope of the stress-extension at small strain is evaluated. The evaluation delivers a spatial inhomogeneous Young’s modulus E, which was found to be N N 5886 m 2 in the outer two-thirds and 2943 m2 in the inner third of the myocardial wall. Poisson’s ratio ν was set to 0.49 to approximate incompressibility of the papillary muscles. The parameter β was set according to measurement data to 15 by curve ﬁtting procedures. Rankin-Arentzen-McHale-Ling-Anderson 1976. The work of Rankin et al. aimed at the assessment of the viscoelastic properties of myocardium [263]. The properties of normal left ventricular myocardium of dogs were measured with micromano- and sonomicrometry. The ultrasonic transmitters were sewed at diﬀerent locations at the epi- and endocardial wall. The micromanometers were located in the left ventricle and pleura. The measurement of pressure and geometry was performed in diastole. Increases of the systolic and diastolic loading were performed using inﬂating occluders implanted in the aorta as well as in the vena cava superior and inferior. The determination of the mechanical properties was performed by an ellipsoid shell theory neglecting anisotropy and inertia. The so-called natural strain was calculated at the midwall circumference by: l = ln l0 with the minimal midwall circumference l0 and the instantaneous midwall circumference l.

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8 Cardiac Mechanics

Fig. 8.4. Strain energy density W proposed by Needleman et al. for normal left ventricular myocardium of canine in diastole. The strain energy density W is dependent on the principal stretches λ1 and λ2 . The third principal stretch λ3 is set to (λ1 λ2 )−1 assuming incompressibility.

The uniaxial connection between stress τ and strain was evaluated for diﬀerent functions. The most precise approximation was achieved by a function including viscoelasticity: .

τ = α(eβ − 1) + η with the nonlinear elastic constants α and β, the viscous constant η, and . the strain time derivative . Mean values of the parameters, derived from measurements of 10 animals, were given by α = 7.3 · 10−6 m12 , β = 12.3, and η = 34.7 · 10−6 ms2 . Needleman-Rabinowitz-Bogen-McMahon 1983. The material properties given by Needleman et al. were used to represent normal and infarcted left ventricular myocardium of canine [283]. Diﬀerences of the material properties were reﬂected by appropriate parameterization of strain energy density functions. Two diﬀerent conﬁgurations for material descriptions were examined, i.e. diastole and end-systole. For each conﬁguration a speciﬁc strain energy density function was deﬁned. At diastole the material was described as incompressible, isotropic and hyperelastic with the strain energy density function Wd : µp kp k k λ1 + λ2p + λ3p − 3 Wd = kp with the principal stretches λ1 , λ2 , and λ3 as well as the parameters µp and kp . Incompressibility was ensured by:

8.2 Mechanical Properties of Myocardium

λ3 =

229

1 λ1 λ2

The parameters µp and kp were chosen partly dependent on measurement data. Normal myocardium was characterized by kp = 16 and µp = 2 (Fig. 8.4). Infarcted myocardium was described by kp = 16 and µp = {1, 16}. At end-systole the upper strain energy density function Wd was extended by an additional strain energy function Ws : µs ks ks ks λ1 + λ2 + λ3 − 3 Ws = ks with the stretches λ1 , λ2 , and λ3 as well as the parameters µs and ks . The stretches of the diastolic and end-systolic conﬁguration are related by: λ1 = λc λ1 λ2 = λc λ2 λ3 = λ−2 c λ3 with the parameter λc = 1.18. The parameters µs and ks were not explicitly given in [283]. Humphrey-Yin 1987. The approach of Humphrey at el. attempted to describe tissue behavior by the interaction and properties of the tissue constituents [284]. The formulation of the strain density energy function reﬂects histological observations [70, 107], which showed that the tissue consists of a homogeneous matrix and non-interacting families of ﬁbers, which are densely distributed, thin and hyperelastic. Therefore, the proposed strain density energy function W consists of two parts, a function Wm , describing the homogeneous matrix, and a function Wf , representing the ﬁber behavior and anisotropic properties of the tissue: W = Wm + Wf The deﬁnition of the homogeneous matrix function Wm follows the approach by Demiray et al. (Sect. 8.2.2) for isotropic material: Wm = c eb(I1 −3) − 1 with the ﬁrst invariant I1 of the Cauchy-Green deformation tensor C, and the parameters c and b. The deﬁnition of the ﬁber behavior function Wf is exponential: 2 Wf = A ea(α−1) − 1 with the ﬁber stretch α, and the parameters A and a. The ﬁber stretch was calculated by:

230

8 Cardiac Mechanics

α=

√ nT Cn

with the unit ﬁber direction n. The parameters A, a, b and c were determined by ﬁtting procedures using uniaxial measurements from canine papillary muscle and biaxial measurements of thin slabs of canine subepicardial left ventricular free wall. Parameter ﬁtting with data from uniaxial measurements of papillary muscles led to a signiﬁcant underestimation of the stresses. Parameter ﬁtting with data from biaxial measurements, whereby the ratio of ﬁber- and crossﬁber-strain was varied as well as diﬀerent specimens scanned, showed large variations of the parameters. Horowitz-Lanir-Yin-Perl-Sheinman-Strumpf 1988. The model of mechanical properties introduced by Horowitz et al. is motivated by histological studies of myocardium. Diﬀerent models for thin myocardial strips [285] and full three-dimensional areas of canine myocardium [286] were proposed. The myocardium is treated as a hyperelastic, non-viscoelastic, incompressible material. The strain energy in a unit volume is assumed to be the sum of the strain energies of diﬀerent ﬁbers, i.e. enclosed myocytes and collagen struts. The myocytes are tethered by the collagen struts. The three-dimensional strain energy density function W of the domain Ω of spatial directions n is given by [295]: sk Rk (n)wk∗ (E11 ) dΩ W = Ω

k

with the volumetric fraction of ﬁbers sk , the ﬁber speciﬁc density distribution function Rk , the integral ﬁber speciﬁc strain energy density function wk∗ , and . Two ﬁber types k were the Green-Lagrange strain in ﬁber direction E11 deﬁned: collagen struts and myoﬁbers. The function Rk describes stochastically the spatial arrangement of the ﬁbers, such that the relative portion prk of type k ﬁbers in the volume ∆Ω is determined by: prk = Rk (n)∆Ω The integral ﬁber speciﬁc strain energy density function wk∗ is depending on the strain in ﬁber direction E11 : wk∗

E11

= 0

Dk,n (x)wk (E11t )dx

with the ﬁber speciﬁc waviness distribution function Dk,n , the ﬁber speciﬁc given by: strain energy density function wk and the true strain E11t E11t =

−x E11 1 + 2x

8.2 Mechanical Properties of Myocardium

231

The ﬁber speciﬁc waviness distribution function Dk,n describes the waviness of type k ﬁbers, such that these ﬁber’s portion pdk aligned with n and having a strain in [x, x + ∆x] is given by: pdk = Dk,n ∆x Humphrey-Strumpf-Yin 1990. The strain energy density function proposed by Humphrey et al. describes the mechanical properties of passive myocardium [288] [289] [276]. In a general form the function is given by: W =

n n

cij (I1 − 3)i (α − 1)j

i=0 j=0

with the parameters cij , the ﬁrst invariant I1 of the right Cauchy-Green deformation tensor C and the strain α = N T CN . The function describes anisotropic behavior in the case of transversal isotropy. Restrictions on the parameters lead to the strain energy density function: W = c1 (α − 1)2 + c2 (α − 1)3 + c3 (I1 − 3) + c4 (I1 − 3)(α − 1) + c5 (I1 − 3)2 with the parameters c1 , c2 , c3 ,c4 , and c5 . The strain energy density function was parameterized with data from biaxial measurements on excised midwall myocardium of canine. The parameters were calculated applying nonlinear optimization techniques. Yang-Tabber 1991. The constitutive equations proposed by Yang and Taber are applied to investigate the role of extracellular ﬂuid for the viscoelastic properties of passive myocardium [291]. The total stress τ total is composed of the stress τ solid for the solid and the stress τf luid I for the ﬂuid: τ total = τ solid + τf luid I The stress for the ﬂuid τf luid is dependent on the hydrostatic pressure p and the ratio of ﬂuid to bulk volume φ: τf luid = −φp The stress for the solid is given by: τ solid = 2µs + λs I − (1 − φ)pI with the Lam´e constants λ and µ and the strain of solid s . Hence, the total stress τ total is determined by: τ total = 2µs + λs I − pI The Lam´e constants λ and µ were determined starting from a strain energy density function W :

232

8 Cardiac Mechanics √

W =

C α e α

nI

I3 + 2I 2 + 3

(n−1)I1 2

−3n+0.5

with the invariants of the strain tensor I1 , I2 , and I3 , as well as the parameters C, n and α. The function W was used only for mathematical convenience, because experimental work concerning the poroelastic properties of myocardium is missing. For small strain the following approximations were identiﬁed: λ=C µ = C(2n − 1) 1 ν= 4n with the Poisson’s ratio ν. Uniaxial simulations were performed and compared with measurements of rabbit, frog and turtle cardiac muscle. The results indicate that some observed biomechanical phenomena can be explained with extracellular ﬂow, but that further experimental work is requisite. Guccione-McCulloch-Waldman 1991. The strain energy density function W proposed by Guccione et al. was constructed on the base of constitutive laws for arteries assuming orthotrophic material properties [254]. The function is exponential: C Q e −1 (8.1) W = 2 with the parameter C and the function Q, depending on the Green-Lagrange strain tensor E. Two variants of the function Q were investigated: an isotropic function Qiso and an anisotropic, transversal isotropic function Qaniso with respect to the ﬁber orientation: Qiso = 2b1 (ERR + EF F + ECC ) Qaniso = 2b1 (ERR + EF F + ECC ) 2 2 2 2 + b2 EF2 F + b3 (ECC + ERR + ECR + ERC ) 2 2 2 2 + b4 (ERF + EF R + EF C + ECF )

with the parameters b1 , b2 , b3 , b4 , and the components of the Green-Lagrange strain tensor E. The indices F , C, and R depict the ﬁber axis, cross-ﬁber in-plane axis, and the radial direction, respectively. The strain energy density function was parameterized by comparison of measurements performed with canine ventricles and results of numerical simulation. The measurements delivered epicardial strains and left ventricular volumes in dependence of ventricular pressure. A thick-walled cylindrical model was used to describe the equatorial ventricular geometry. In the isotropic case the parameter C was set to 0.765 kP a and the parameter b1 to 4.24. For the anisotropic case the parameter b3 was set to 0. Diﬀerent parameterizations were determined depending on the assumption of transmural distribution of ﬁber orientation and residual stress in the ventricular wall.

8.2 Mechanical Properties of Myocardium

233

Fig. 8.5. Unidirectional strain energy densities W proposed by Hunter-Nash-Sands for epicardial canine myocardium. The energy density is shown versus the stretch ration λ and dependent on three orthogonal axes, i.e. (a) ﬁber orientation, (b) sheet orientation and (c) sheet normal.

Hunter-Nash-Sands 1995. The strain energy density function W proposed by Hunter et al. takes the anisotropic and inhomogeneous behavior of myocardium into account [268, 253, 296, 297] (Fig. 8.5, 8.6 and 8.7). Three microstructural justiﬁed, orthogonal axes were distinguished: the ﬁber, sheet and sheet normal axis. The energy density function is named pole-zero law. The summary strain energy density is composed of energy densities for diﬀerent strains with axes i = 1, 2, 3 and j = 1, 2, 3: W =

2 2 2 k22 E22 k33 E33 k11 E11 + + (a11 − |E11 |)β11 (a22 − |E22 |)β22 (a33 − |E33 |)β33 2 2 2 k12 E12 k13 E13 k23 E23 + + + (a12 − |E12 |)β12 (a13 − |E13 |)β13 (a23 − |E23 |)β23

(8.2)

with the components of the Green-Lagrange strain tensor Eij as well as the parameters, kij , aij , and βij . The parameter kij is set to zero, if Eij is negative. The energy density attributed to a strain is zero in case of compression in the direction. The strain energy density function W is deﬁned for |Eij | < aij . The function shows large values for strain Eij approaching its ’pole’ aij , reﬂecting the steep rise in tension coming upon a strain limit. The energy densities and their parameters are divided into an axial and a shear group. The parameters of the two groups are assumed to be inter-

234

8 Cardiac Mechanics

Fig. 8.6. Strain energy density W proposed by Hunter-Nash-Sands for epicardial canine myocardium. The strain energy density W is visualized dependent on the principal stretches λ1 and λ2 corresponding to ﬁber and sheet directions, respectively. The third principal stretch λ3 corresponding to the sheet normal is set to (λ1 λ2 )−1 assuming incompressibility. Table 8.3. Exemplary parameter set of strain energy density function proposed by Hunter et. al. [297]. The parameters of each line serve to parameterize a single component of the summary function. The shear parameters are result of microstructurally based assumptions. Strain energy term Group k a b 11 axial 1.937 0.523 1.351 22 axial 0.028 0.681 5.991 33 axial 0.310 1.037 0.398 12 shear 1.000 0.731 2.000 13 shear 1.000 0.731 2.000 23 shear 1.000 0.886 2.000

dependent, because the same anatomical microstructures are involved in the deformation. Therefore, only 9 free parameters are attributed (table 8.3). The parameterization of the function W was performed by uniaxial measurements of canine ventricle in the diﬀerent directions of the axes. Hereby, the parameters of diﬀerent regions in myocardium were collected, i.e. epicardium and midwall. The strain energy density function was extended by terms representing the incompressibility of myocardium. High demands must be made concerning the

8.2 Mechanical Properties of Myocardium

235

Fig. 8.7. Unidirectional second Piola-Kirchhoﬀ stress T derived from hyperelastic material law of Hunter-Nash-Sands for epicardial canine myocardium. The stress is shown versus the stretch ration λ and is dependent on three orthogonal axes.

compliance of incompressibility in numerical calculation if strains are near to the poles. Extensions for in-cooperation of more complex stress-strain relationships can use a polynomial expansion of the single strain energy densities in equation 8.2 [268]. Okamoto-Moulton-Peterson-Li-Pasque-Guccione 2000. The energy density function W proposed by Okamoto et al. follows the approach of an exponential, anisotropic, transversely isotropic constitutive relation given by equation 8.1. Hereby, the function W is deﬁned as [255]: W =

C Q e −1 2

with parameter C and the strain dependent function Q. The function Q is dependent on the components of the Green-Lagrange strain tensor E and is deﬁned as: 2 2 2 2 + ERR + ECR + ERC ) Q = bF EF2 F + bT (ECC 2 2 + bF S (EF2 C + ECF + EF2 R + ERF )

with the parameters bF , bT , and bF S as well as the ﬁber strain EF F , the cross-ﬁber in-plane strain ECC , the radial strain ERR , the shear strains ECR , ERC , EF C , ECF , ERF , and EF R . The parameterization was performed by experiments, whereby suction was applied to the left ventricular epicardium of dogs. Therefore, the heart was exposed by median sternotomy. The suction produced a deformation, which

236

8 Cardiac Mechanics

was measured using magnetic resonance tagging and image processing techniques. A ﬁnite element model was adapted to the measured deformation by variation of the parameterization. Usyk-Mazhari-McCulloch 2000. The energy density function W proposed by Usyk et al. extends the transversely isotropic constitutive, incompressible approach given by equation 8.1 by taking orthotropy and compressibility of myocardium into account. Hereby, the function W is deﬁned as [294]: C Q W = e − 1 + Ccompr (J lnJ − J + 1) 2 with parameters C and Ccompr , the strain dependent function Q, and the Jacobian J. The function Q is dependent on the components of the GreenLagrange strain tensor E: 2 2 2 2 + bN N EN Q = bF F EF2 F + bSS ESS N + bF S (EF S + ESF ) 2 2 2 + bF N (EF2 N + EN F ) + bN S (EN S + ESN )

with the parameters bF F , bSS , bN N , bF S , bF N , and bN S . The indices F , S, and N of the components of the strain tensor E indicate ﬁber, sheet and sheetnormal axes, respectively. The parameterization was performed by comparison of distributions of three-dimensional diastolic and systolic strains obtained by numerical experiments in a prolate spheroidal model and by measurements in the dog heart.

8.3 Tension Development 8.3.1 Mechanisms Cardiac, smooth and skeletal muscles are not only passively reacting to external forces but can create internal tension resulting in deformation and movement. Some ﬁrst, out-dated theories explained these internal tensions by folding or coiling of long protein ﬁlaments [298, 299], e.g. the lactid acid theory. Experimental evidence for a diﬀerent mechanism achieved by diﬀerent microscopic techniques lead to the theories of sliding ﬁlaments, which were proposed in the year 1953 by A. F. Huxley and N. Niedergerke as well as H. E. Huxley and J. Janson. The sliding ﬁlament theory was subsequently conﬁrmed by a multitude of experiments. E.g. it was found by microscopy that whilst sarcomere contraction, i.e. the distance between the Z disks is decreased, the length of thick and thin ﬁlaments is kept constant. Enhancements of the theory are resulting from improvements of measurement techniques. Despite many parts of the tension development are clariﬁed as far as to the molecular level, some details are still under exploration. Responsible structures for the sliding of myoﬁlaments are diﬀerent proteins arranged in the sarcomeres of myocytes (Sect. 6.2.1). The interplay of these proteins is enabled by diﬀerent reversible chemical reactions primarily controlled by electrophysiological processes.

8.3 Tension Development

237

Motor Proteins. So-called motor proteins, e.g. myosin, transform chemically bound energy to mechanical energy. Energy source is adenosine triphosphate (ATP) produced in the mitochondria by oxygenation of nutrients and transferring its energy by hydrolysis. Already the binding of ATP to myosin results in a change of its conﬁguration. The hydrolysis consists of splitting the ATP into adenosine diphosphate (ADP), phosphate Pi , and the hydrogen ion H+ , whereby water H2 O is incorporated into the ATP: ATP + H2 O −→ ADP + Pi + H+ The chemical reaction is conjuncted with a release of energy ∆G = −7.3 kcal mol , which is used to modify chemical bindings of myosin. Members of the myosin family drive not only muscle contraction, but also intracellular transport process, cytokinesis and cell locomotion [76]. In muscle contraction the myosin II is involved. However, the mechanisms of energy transfer and mechanical behavior are similar in other types of myosin. Myoﬁlaments in Sarcomeres. The sarcomeres include an arrangement of thick and thin myoﬁlaments (Fig. 6.8). Ordered myosin forms the thick ﬁlaments, which are surrounded by the thin ﬁlaments. The thin ﬁlaments, formed by the proteins tropomyosin, troponin and actin, act as passive mechanical counterpart of myosin. The spatial arrangement of thick and thin ﬁlaments is maintained by the proteins titin and nebulin. Excitation-Contraction Coupling and Intracellular Calcium Handling. The development of tension in the sarcomeres is provoked by an increase of the concentration of cytoplasmic calcium. Commonly, the increase of the concentration is result of electrical excitation. The concentration is aﬀected primarily by sarcolemmal and sarcoplasmic proteins, which control the ﬂow of calcium from and to spatial microdomains within the cell [300]. The sarcolemmal Na-Ca exchangers and calcium pumps can remove calcium ions from the cytoplasm into the extracellular space. Voltage gated calcium ion channels allow the controlled inﬂux of calcium. In mammalian myocytes a high density of NaCa exchangers and of L-type calcium ion channels is reported at the end of transversal tubuli, which intrude into the myocyte as a specialization of the sarcolemma and end at adjacencies of Z disks. The intracellular calcium handling is carried out in large parts by the sarcoplasmic reticulum, which is decomposed in the terminal cisternae and longitudinal tubuli (Sect. 6.2.1). The longitudinal tubuli surround mesh-like the sarcomeres. The terminal cisternae located at the Z disks act primarily as buﬀer for calcium resulting from a high density of the protein calsequestrin. The sarcoplasmic reticulum includes diﬀerent proteins controlling the calcium ﬂux through the membrane (Sect. 7.2.1). Sarcoplasmic calcium pumps remove calcium ions from the cytoplasm into the sarcoplasmic reticulum consuming ATP. Sarcoplasmic calcium release channels are gated by cytoplasmic calcium concentration and allow the eﬄux of calcium from the junctional sarcoplasmic reticulum into the cytoplasm.

238

8 Cardiac Mechanics ADP

M

ATP

M ATP

M ADP Pi

Pi

M ADP

A M

ATP

A M ATP

A M ADP Pi

Pi

A M ADP

ADP

Fig. 8.8. States and transitions of actin-activated myosin II ATPase cycle (adapted from [68, 301]). M and A symbolize Myosin and actin, respectively. ATP, ADP and Pi represent adenosine triphosphate, adenosine diphosphate and phosphate, respectively. Arrows indicate possible transitions. The bold arrows signify the normal transitions.

Physiological Operating Sequence. The physiological initiation of tension development is performed by electrical excitation of the myocyte. The excitation propagates over the sarcolemma, particularly the transversal tubuli, where in consequence the sarcolemmal voltage-gated L-type calcium ion channels open initiating a positive feed back mechanism. The inﬂux of calcium ions through the L-type calcium ion channels and to a smaller amount through Na-Ca exchangers triggers the opening of sarcoplasmic calcium release channels leading to calcium sparks. Numerous calcium sparks sum up to a signiﬁcant increase of the concentration of cytoplasmic calcium. The release channels show a refractory period, which stops the positive feed back mechanism. The calcium is reuptaken by calcium speciﬁc pumps into the sarcoplasmic reticulum. Smaller amounts are transported extracellularly via the sarcolemmal Na-Ca exchangers and calcium pumps. The calcium binds to troponin C resulting in shifting of the troponintropomyosin complex followed by structural changes of the tropomyosin-actin conﬁguration [68]. The changes allow the binding of a myosin head to actin, the so-called cycling of cross bridges or actin-activated myosin II ATPase cycle (Fig. 8.8). In absence of ATP the actin-myosin binding is arrested. By binding and hydrolysis of ATP the motor protein performs four steps (Fig. 8.9): • • • •

Binding of ATP to myosin head resulting in its unbinding from actin Rebinding of myosin head at adjacent actin while ATP hydrolysis Changing of the angle of myosin heads to neck and tails (Fig. 8.10), whereby phosphate Pi is released into the cytoplasm Unbinding of ADP from myosin and its release into the cytoplasm

If ATP is available, a binding to the myosin is occurring. If the calcium concentration is suﬃciently large, the procedure can be repeated.

8.3 Tension Development Pi

ATP

ADP Pi

239

ADP

ADP

Fig. 8.9. Sliding of myosin and actin ﬁlament (adapted from [302]). The sliding starts with the binding of ATP to the myosin head, followed by its unbinding and rebinding to actin. The distance between the binding positions is a multiple of a minimal length. The ATP is hydrolyzed and the metabolites, Pi and ADP, are released sequentially into the cytoplasm. Between the second and third step a socalled power stroke is performed, developing tension and/or changing the relative position of the myoﬁlaments. The illustrated processing presumes, that a formation of cross bridges is possible. Commonly, structural changes of the tropomyosin-actin conﬁguration resulting from calcium binding to troponin C are necessary to allow the formation.

Fig. 8.10. Attachment of actin to myosin and its folding (from [84]). The myosin head and tail is shown in red, its light chains in orange and yellow. The actin ﬁlament is visualized in green and blue. The left hand illustration shows a myosin head attached to actin, the right hand the folding of the myosin head.

Diﬀerent step lengths and tensions are reported for the variant types of myosin and myocytes. Step lengths, which are multiple of a minimal length, and back steps are reported in recent experimental works. These works change the deterministic view point to a stochastical. For myosin II several sub-steps per hydrolyzed ATP are performed by folding of the head-neck junction [302]. Each folding leads to sub-steps with a length of circa n x 2.7 nm in direction of the actin ﬁlament with n as positive or negative integer [303]. Commonly, n is reported to be in the range -5 to +5. Frequently, a sub-step length of 5.4 nm is measured, which is equal to the monomer repeat along an actin ﬁlament [304]. Each folding of myosin II leads to a summary force of 1 − 5 pN [76].

240

8 Cardiac Mechanics

8.3.2 Experimental Studies A large number of experiments of active muscular behavior was performed starting with experiments of A. V. Hill in 1938 [305], who measured, analyzed and described in a mathematical manner the interdependencies between speed of shortening, tension and heat production in skeletal muscles of frog. In these experiments the muscle load was varied. The muscle was clamped at both ends, its length was ﬁxed and noted. The muscle was tetanized isometrically by electrical stimulation. After quick release of the ﬁxation the muscle shortened and the shorting velocity was measured. The measurement data was used to parameterize an equation, which is now known as Hill’s equation. As for acquisition of passive mechanical properties the specimens for the measurement of active muscular behavior are primarily from the species rat, rabbit and cat (tables 8.4 and 8.5). The specimens size varies between large papillary muscles, diﬀerently shaped blocks of myocardial tissue, small cellular clusters of myocytes to single myocytes [275]. The development of force in myocardial tissue and myocytes is measured with devices similar to those for acquisition of passive mechanical properties. In contrast thereto speciﬁc extensions are included in the devices to activate a force development, either indirectly by electrical stimuli or directly by an increase of the concentration of intracellular calcium [Ca2+ ]i . Miscellaneous macroscopic and microscopic measurement devices were applied to record the active mechanics. Commonly, the devices were speciﬁcally developed dependent on the specimens size and geometrical properties. A system for measurement of force in single myocytes is shown in Fig. 8.11 and 8.12. The early works involved in measurement of active mechanics of cardiac muscle followed the experimental and conceptual approaches of Hill. The relationships between force, stretch and stimulus frequency as well as the underlying mechanisms, e.g. electro-mechanic coupling, were focus of interest. The primary specimens used in the early works were ventricular trabeculae obtained after rapid removal of the heart. The specimens were suspended in an appropriate ﬂuid. Electrical stimulation of the muscles was performed by applying current via electrodes. Already in these early works, e.g. of Sonnenblick [257] and Parmley et al. [306], and similar to measurements of skeletal muscle a stretch dependence of the tensions developed in myocardium was reported. This phenomenon can be regarded as the underlying principle of the Frank-Starling mechanism, which leads to an increase of contractile force and ejection of blood by increase of the end-diastolic volume of the ventricular cavity. The phenomenon provides evidence for the sliding ﬁlament theory, whereby the overlapping of the myoﬁlaments determines the recruitment and formation of cross bridges. The early works were validated by various subsequent experiments. E.g. it was found in experiments with constant or sinusoidally pertubated [307] sarcomere length, that the overlap of the thick and thin ﬁlaments is a signiﬁcant determinant of the force amplitude.

8.3 Tension Development

241

Table 8.4. Force measurements of cardiac muscle. Date 1964 1973 1976 1980 1984 1986 1986 1987

Publisher Sonnenblick Parmley, Chuck Ingebretsen, Becker, Friedman, Mayer ter Keurs, Rijnsburger, Heuningen, Nagelsmit Eisner, Lederer, Vaughan-Jones Wier, Yue Kentish, ter Keurs, Ricciardi, Bucx, Noble Hofmann, Fuchs

1991 Peterson, Hunter, Berman 1991 Nassar, Malouf, Kelly, Oakely, Anderson 1994 Gao, Backx, Azan-Backx, Marban 1995 Bluhm, Lew 1995 1995 1997 1998

Wang, Fuchs Janssen, Hunter Janssen, de Tombe Baker, Figueredo, Keung, Camacho 1998 Maier, Brandes, Pieske, Bers 1998 Saeki, Kurihara, Komukai, Ishikawa, Takigiku 1999 Layland, Kentish 2000 Allan, Xu, Kerrick 2000 Bluhm, Kranias, Dillmann, Meyer 2000 Maier, Barckhausen, Weisser, Aleksic, Baryalei, Pieske 2000 ter Keurs, Hollander, ter Keurs 2000 Wannenburg, Heijne, Geerdink, van den Dool, Janssen, de Tombe 2002 Konhilas, Irving te Tombe

Tissue/Cell type papillary muscle papillary muscle papillary muscle trabeculae

Species cat cat cat rat rat

Purkinje ﬁbers

sheep

[310]

papillary muscle intact and skinned trabeculae skinned ventricular muscle bundles papillary muscle

ferret rat

[311] [312]

cow

[313]

New Zealand White rabbit New Zealand White rabbit rat

[314]

[316]

rabbit

[317]

divers rat rat rat

[318] [319] [320] [321]

rat

[322]

ferret

[323]

rat

[324]

rat

[325]

wild-type and phospholamban knockout mice human

[169]

[326]

rat

[327]

rat

[307]

right ventricular rat skinned trabeculae

[328]

ventricular myocardium ventricular myocardium right ventricular papillary muscle divers trabeculae trabeculae ventricular muscle ventricular muscle papillary muscle

ventricular trabeculae skinned ventricular ﬁber strips left ventricular papillary muscle right atrial trabeculae ﬁber strips right ventricular trabeculae right ventricular trabeculae

Reference [257] [306] [308] [309]

[315]

242

8 Cardiac Mechanics Table 8.5. Force measurements of cardiac myocytes. Date 1975 1977

Publisher Fabiato, Fabiato

De Clerck, Claes, Brutsaert 1989/90 Harrison, Bers 1993

1993

1995 1995 1998

1999

2001

Tissue/Cell type Species ventricular rat myocytes skinned myocytes rat

ventricular rabbit, frog, myocytes skinned guinea pig, rat White, Guennec, ventricular guinea-pig Nigretto, Gannier, myocytes Argibay, Garnier Gannier, Bernengo, ventricular guinea-pig Jacquemond, myocytes Garnier White, Boyett, ventricular guinea-pig Orchard myocytes Bluhm, McCulloch, left ventricular rabbit Lew myocytes Brandt, Colomo, skinned atrial frog Piroddi, Poggesi, and ventricular Tesi O’Rourke, Kass, left ventricular canine Tomaselli, Kaab, myocytes Tunin, Marb´ an Yasuda, Sugiura, ventricular rat Kobayakawa, Fjita, myocytes Yamashita, et al.

Reference [167] [329] [68] [155]

[330]

[331] [332] [333]

[193]

[334]

Careful observation revealed that the performing of length switches leads to transitions of tensions, which were time dependent [306]. E.g. a quick shortening to 90 % of the resting length leads an immediate decrease of force to circa 50 %. The subsequent transient rise of force by 10 % was followed by a slow asymptotic fall. The asymptotic force was 55 % of the force at resting length. In further studies it was reported that the progression of tension is modulated by the progression of intracellular calcium concentration [Ca2+ ]i . E.g. a graded eﬀect of the intracellular calcium concentration [Ca2+ ]i on the cross bridge kinetics was found in studies of chemically permeabilized ventricular trabeculae, whereby the calcium concentration was varied as well as the muscle length was sinusoidal pertubated [307]. The regulation of the tension development kinetics by the extracellular calcium concentration [Ca2+ ]i was reported in tetanized ventricular trabeculae [321]. Therefore, it can be concluded that also the progression of an electrical excitation inﬂuences the progression of the force development.

8.3 Tension Development

243

Table 8.6. Mathematical models of force development in muscle and myocytes. The focus is on cardiac models, but early skeletal muscle models are also included. Date 1938 1957 1971 1971/72 1980 1991 1994 1994 1997 1998 1998 1998 1998 1999 2000 2001 2001 2002

Publisher Hill Huxley Huxley, Simmons Wong Panerai Peterson, Hunter, Berman Landesberg, Sideman

Tissue/Cell type skeletal muscle skeletal muscle striated muscle cardiac muscle papillary muscle papillary muscle

skinned cardiac myocytes Landesberg, Sideman cardiac muscle Hunter, Nash, Sands cardiac muscle Noble, Varghese, Kohl, ventricular Noble myocardium Guccione, Motabarcardiac myocytes Zadeh, Zahalak Hunter, McCulloch, cardiac myocytes ter Keurs Winslow, Rice, Jafri ventricular myocytes Rice, Winslow, Hunter papillary muscle Rice, Jafri, Winslow Mlcek, Neumann, Kittnar, Novak Nickerson, Smith, Hunter Gl¨ anzel, Sachse, Seemann

Species Reference frog [305] [298] [338] [339, 340] mammalian [341] New Zealand [314] White rabbit [342] [343, 344] mammalian [253] guinea pig [189] -

[345]

-

[296]

guinea pig

[346]

New Zealand White rabbit cardiac muscle ferret cardiac myocytes -

[347] [348] [349]

cardiac myocytes -

[350]

cardiac myocytes -

[351, 352]

The relationship between force and intracellular calcium is frequency dependent. Most studies with isolated myocardial preparations under physiologic conditions report a positive relationship, i.e. increasing the calcium frequency leads to higher force [324]. The positive relationship is attributed to a higher uptake of extracellular calcium into the myocyte by increasing stimulus frequency leading to a higher uptake and release of calcium in the sarcoplasmic reticulum. Under non-physiologic conditions the relationship can have a negative slope or show an U-shape as well as species and specimens dependent variations of the relationship were found [323, 169]. Variant measurements were performed with skinned myocytes, which permit directly the control of the environment inside of the cells. E.g. calcium can be applied into the intracellular space and to the contractile elements. A removal of sarcolemma can be achieved chemically as well as by mechanical homogenization and manual micro-dissection. A disadvantage of this kind of

244

8 Cardiac Mechanics

Fig. 8.11. System for measurement of force in single myocytes (from [334]). The myocyte (M) is clamped between two carbon graphite ﬁbers. The ﬁrst ﬁber (C1) is ﬁxed, the second (C2) connected via a glass rode (G) to a piezoelectric transducer (PT). The image of myocyte and the second ﬁber is projected through a half mirror onto a CCD camera and a pair of photo-diodes (PD1 and PD2 ). The photo-diode arrangement allows in conjunction with a feedback system the correction of the second ﬁber’s compliance. The force and length signals are fed into the data acquisition system (AD). The camera is connected with a video recorder (VCR) and a display.

(a)

(b)

Fig. 8.12. Myocyte held clamped between two carbon graphite ﬁbers (from [334]). The lower, thicker ﬁber is ﬁxed. The second ﬁber connected to a piezoelectric transducer. Forces are measured by variation of the myocyte stretch leading to diﬀerent lengths of the sarcomere, e.g. (a) 1.9 µm and (b) 2.1 µm. The bar indicates a length of 20 µm.

8.3 Tension Development

245

preparation is that cellular constituents may be lost which aﬀect the calcium sensitivity of myoﬁlaments [68]. A classical work was carried out by Fabiato and Fabiato [167], who measured the tension of skinned myocytes and its interdependencies with calcium release and re-sequestrations by the sarcoplasmic reticulum. A single skinned myocyte was located in a perfusion chamber with the two ends of the cell attached to glass micro-needles. One micro-needle was ﬁxed, the other connected to the lever of a force transducer. Force as well as length and width of the cell were measured. Furthermore, a mean sarcomere length was determined. Several conclusions were drawn from the measurements of Fabiato and Fabiato: Cellular tension is a direct eﬀect of the concentration of free calcium, where the tension is developed regardless the deletion of the sarcoplasmic reticulum. A signiﬁcant calcium sink exists in the cell, which was identiﬁed as the sarcoplasmic reticulum. Physiologically, calcium is re-sequestrated after contraction. The release of calcium from the sarcoplasmic reticulum is triggered by concentration of free calcium. The amplitude of contraction is increased when the triggering concentration of free calcium is increased. Further studies were performed to elucidate cooperativity mechanisms for force development. Three diﬀerent cooperativity mechanisms were demonstrated: • • •

cross-bridges increase aﬃnity for binding of calcium to troponin C (XBTN) [335] cross-bridges support the building of cross-bridges in the neighborhood (XB-XB) [336] shifting of tropomyosin leads to shifting of attached tropomyosins (TMTM) [337]

Topics of recent studies are the eﬀects of speciﬁc proteins and pathologies onto force and calcium handling. The role of the protein phospholamban, a inhibiting regulator of the sarcoplasmic calcium pump (SERCA), was studied with wild-type and phospholamban knockout mice [169]. The eﬀects of hypertrophy and tachycardia were acquired in single myocytes as well as in myocardium [322, 193]. 8.3.3 Mathematical Modeling Approaches Overview. A ﬁrst attempt to describe mathematically active tensions developed in muscle was published 1938 by A. V. Hill [305]. He developed the model on base of his work concerning heat production in striated muscle, wherefore he received a Nobel prize in 1922. The description refers to the force-velocity relationship of tetanized skeletal muscle of frog upon quick release from isometric condition. In the context of a mathematical modeling of the heart Hill’s equation is primarily of pedagogical value, because the general framework is diﬀering between the two muscle types. A tetanized contraction is physiologically not common for cardiac muscle. The coupling to electrophysiological

246

8 Cardiac Mechanics

quantities is not included in Hill’s equation but is of fundamental importance for cardiac force development. Hill’s equation can be regarded as an empirical equation [30], which gives macroscopic information and neglects biophysical phenomena on microscopic and molecular level. A biophysically, microscopic anatomically based mathematical description, i.e. the theory of sliding ﬁlaments, was proposed in 1953 by A. F. Huxley and N. Niedergerke as well as H. E. Huxley and J. Janson. This description of force development in striated muscle and derived models are introduced in the following sections. Of special interest for biophysically motivated modeling are descriptions of cellular force development, which base on electrophysiological quantities delivered e.g. by electrophysiological cell models (Sect. 7.2.3). The concentration of intracellular calcium [Ca2+ ]i is used to deﬁne rate coeﬃcients, which depict the interaction between states of actin and myosin. The states describe e.g. the binding of intracellular Ca2+ to the troponin complex and the cross bridge cycling. Further parameters inﬂuencing the rate coeﬃcients are the sarcomere length and the state variables. Hill. Hill’s equation describes the shortening velocity of frog skeletal muscle in dependence on load [305]. The muscle is initially ﬁxed by clamping of its ends and tetanized by electrical stimulation. Velocity of contraction is measured after quick release. The interdependencies are described by: (v + b)(P + a) = b(P0 + a) with the velocity of contraction v, the tension P , and the constants a, b and P0 . Sliding Filament Theory. During contraction the length of the thick and thin ﬁlaments is kept constant while the distance between the Z disks is decreased. This observation forms the motivation for the so-called sliding ﬁlament theory, which was proposed independently by two groups in the year 1953, i.e. A. F. Huxley and N. Niedergerke as well as H. E. Huxley and J. Janson. The sliding ﬁlament theory assumes that the forming of cross bridges by actin A and myosin M can be described by: f

A+M A−M g

(8.3)

with the attached cross bridges A−M , the binding rate f and the dissociation rate g. The binding rate f quantiﬁes the probability, that a myosin side-piece binds to an actin monomer. The dissociation rate g speciﬁes the probability, that an attached cross bridge breaks down. Applying the sliding ﬁlament theory the tension developed in muscle can be derived starting with the deﬁnition of a function n(x, t) [298], which describes the proportion of bound actin to summary actin sites with displacement x at time t. Therewith, the proportion of bound actin sites at time t

8.3 Tension Development

247

with displacements in the range [x0 , x0 + ∆x] is given by:

x0 +∆x

n(x, t) dx x0

The material derivative of the function n is decomposed into a local rate of change and a convective rate of change: Dn ∂n ∂n = − v(t) Dt ∂t ∂x with the shortening velocity v [30]. The convective rate of change is resulting from the sliding of ﬁlaments. Actin sites are presented to a myosin site with frequency v/l, whereby l refers to the distance between successive actin binding sites. The upper rates (equation 8.3), the binding rate f and the dissociation rate g, must be redeﬁned as functions of displacement, f (x) and g(x), respectively. Using these deﬁnitions the material derivative is described by: Dn = (1 − n)f − ng Dt Assuming that Hooke’s law can be applied for description of the mechanical properties of myoﬁlaments, the average work done W at one myosin site by ﬁlament sliding is calculated by: ∞ W = nkx dx −∞

with the stiﬀness k. The total tension S results from summing up all single tensions generated by contraction sites within one half-sarcomere: ms ∞ nkx dx S= 2l −∞ with the sarcomere length s and the density of myosin sites m. Landesberg-Sideman Model. The force model of Landesberg and Sideman is based on a description of binding of Ca2+ to troponin C and conﬁguration of cross bridges [342, 343, 344, 353]. Diﬀerent physiologically motivated assumptions are made for the modeling, e.g. cross bridges can cycle between weak, non-force generating to strong, force-generating conformations, calcium binding to troponin leads to actin-myosin ATPase, and calcium can dissociate from troponin before cross bridges return to their weak conformation. The mathematical speciﬁcation of force generation is made by time, calcium and length dependent transitions of states. Four diﬀerent state variables, describing the amount of troponin in diﬀerent conﬁgurations, are distinguished

248

8 Cardiac Mechanics

Table 8.7. State variables of Landesberg-Sideman force model. The state variables represent the amount of troponin in diﬀerent conﬁgurations. The state variable R describes the amount of troponin in resting state with weak cross bridges, i.e. calcium is not bound to troponin C. The variable A represents the amount of troponin with weak cross bridges available for turning to strong conformation because calcium was bound to troponin C. The state variable T describes the amount of troponin with strong cross bridges while calcium is bound to troponin C. The variable U represents the amount of troponin with strong cross bridges after calcium is released from troponin C. State variable Ca2+ bound to troponin C Cross bridge conformation R released weak A bound weak T bound strong U released strong

(table 8.7). The change of the amount of diﬀerently conﬁgured troponin is speciﬁed by a set of ﬁrst order ordinary diﬀerential equations [353]:     ¯ ¯ R R ¯    ∂ A A¯   =M ¯    T¯  ∂t T ¯ ¯ U U ¯ A, ¯ T¯ , with the 4 x 4 matrix M consisting of rate coeﬃcients. The variables R, ¯ and U correspond to the spatial density of the amount of troponin in diﬀerent conﬁgurations. The matrix M is a function of myoﬁlament overlap:   k−l 0 g0 + g1 V −kl [Ca2+ ]i   kl [Ca2+ ]i −f − k−l g0 + g1 V 0  M = 2+   0 f −g0 − g1 V − k−l kl [Ca ]i 2+ 0 0 k−l −kl [Ca ]i − g0 − g1 V with the calcium to troponin binding rate kl , the calcium to troponin dissociation rate k−l , and the cross bridge kinetics parameters f , g0 and g1 . The parameter V quantiﬁes the ratio of change of myoﬁlament overlap to thick ﬁlament length: 1 ∂Ls V = Lm ∂t with the overlap length Ls and the thick ﬁlament length Lm . The force of a contractile element is generated by cross bridges in strong conformation and therefore proportional to the state variables T and U . The force per unit ﬁlament cross section FCE is given by: FCE = (F¯ − ηV )(T + U ) with the force of a single cross bridge F¯ and the viscous element property η.

8.3 Tension Development

249

Fig. 8.13. Steady state simulations with Hunter-McCulloch-ter Keurs model by variation of stretch ratio and calcium concentration. The steady state tension T0 is dependent on the stretch ratio λ ranging from 0.8 to 1.2 and the intracellular calcium concentration [Ca2+ ]i . The tension T0 is normalized with the maximal tension Tref = 100 kP a developed at stretch ration λ = 1.

Hunter-McCulloch-ter Keurs Model. The Hunter-McCulloch-ter Keurs model describes the kinetics of calcium binding to troponin C, of the tropomyosin and of the cross bridges binding [296]. The model was in parts parameterized using measurement data from skinned rat right ventricular muscle [312]. The model is capable of reproducing phenomena observed in length step, constant velocity and frequency response experiments. The concentration of calcium bound to the calcium speciﬁc site of troponin C [Ca2+ ]b is reconstructed by:

T d[Ca2+ ]b 2+ 2+ 2+ [Ca2+ ]b = ρ0 [Ca ]i [Ca ]b,max − [Ca ]b − ρ1 1 − dt γT0 with the rate constants for binding ρ0 and for unbinding ρ1 , the intracellular calcium concentration [Ca2+ ]i , the tension T , the maximal tension value γT0 , and the maximal calcium concentration [Ca2+ ]b,max at maximal tension. The calcium concentration [Ca2+ ]b determines the portion of actin sites z available for cross bridge binding:

n [Ca2+ ]b dz = α0 (1 − z) − z dt C50 with the rate constant of tropomyosin movement α0 , the Hill parameters C50 and n. The parameter C50 deﬁnes the intracellular calcium concentration nec-

250

8 Cardiac Mechanics

essary for half maximal availability of actin sites portion in steady state. The Hill parameters are found to be stretch dependent: n = nref (1 + β1 (λ − 1)) C50 = 106−pC50ref (1+β2 (λ−1)) with the stretch ratio λ, the parameters β1 , β2 , nref , and pC50ref . In steady state, i.e. dz/dt = 0 and [Ca2+ ]b = const, the portion of actin sites zss available for cross bridge binding is calculated by zss =

[Ca2+ ]nb n [Ca2+ ]nb + C50

Under the assumption that all available actin sites are used for cross bridge binding the steady state tension T0 is deﬁned by T0 = Tref (1 + β0 (λ − 1))z with reference tension Tref = 125 kP a as the reference tension at stretch ratio λ = 1. The portion of actin sites z available for cross bridge binding is determined by either equation 8.4 or - for steady state - equation 8.4. The constant β0 = 1/Tref d T0 /d λ = 1.45 describes the slope of the steady state tension T0 as function of stretch ration λ. The reference tension Tref and constant β0 are determined from experiments with skinned rat right ventricular muscle [312]. The description of steady state tension is extended by a so-called fading memory model to take changes of stretch into account. The steady state tension T0 is modulated by a nonlinear function Q to determine the developed tension T : T = T0

1 + aQ 1−Q

with the curvature parameter a. The function Q is given by: Q

T T0

=

3 i=1

Ai

t

e−αi (t−τ ) λ (τ )dτ

−∞

with λ = λ(t), λ = dλ/dt, and the parameters Ai and αi . These parameters are determined by length step and constant velocity experiments. Rice-Winslow-Hunter Model. The Rice-Winslow-Hunter models consist of 5 models reproducing the force development in cardiac muscle [347]. The models diﬀer in the number of state variables and the deﬁnition of rates. Simulations allow the evaluation of reproducibility of length dependencies and dynamic behavior by the diﬀerent models. As examples of the modeling a description of the 1st and 3rd model is given.

8.3 Tension Development

251

Table 8.8. Tropomyosin and cross bridge state variables of Rice-Winslow-Hunter model of cardiac cells. The variable N 0 indicates the resting state with no strongly bound cross bridges and non permissive tropomyosin. The variable P 0 is associated with no strongly bound cross bridges and permissive tropomyosin. The variable P 1 and N 1 describes the force generating states, i.e. the cross bridges are strongly bound. State variable Tropomyosin Number of cross bridges N0 non permissive 0 N1 non permissive 1 P0 permissive 0 P1 permissive 1

Ca

N0

2+

k on

N1

g’

k off

Ca k off

2+

k on

f P0

P1 g

Fig. 8.14. State diagram of 1st Rice-Winslow-Hunter model. The states are described in table 8.8.

Model 1. The model is similar to the Landesberg-Sideman model and applies 4 state variables, i.e. N 0, N 1, P 0, and P 1 with N 0 + N 1 + P 0 + P 1 = 1 to characterize the conﬁguration of tropomyosin and cross bridges (table 8.8, Fig. 8.14). The interaction between the state variables of the model is described by a system of ﬁrst order diﬀerential equations:     N0 N0    ∂   P0  = M  P0      P 1 P 1 ∂t N0 N0 with the 4 x 4 matrix M consisting of rate coeﬃcients. The matrix M is a function of the cytosolic calcium concentration [Ca2+ ]i :   −kon [Ca2+ ]i kof f 0 g  kon [Ca2+ ]i −kof f − f  g 0  M = 2+   0 f −g − kof f kon [Ca ]i 2+ 0 0 kof f −kon [Ca ]i − g with the constants kon , kof f , f , g, kon , kof f , and g . The normalized force F is determined by the force generating state variables N 1 and P 1:

F =

α(P 1 + N 1) Fmax

252

8 Cardiac Mechanics

Fig. 8.15. Sarcomere overlap function. The function quantiﬁes the fraction of myosin heads that are capable to interact with actin in such a way that force is produced. The overlap function is dependent on stretch. The scaling of the lower axis assumes a default sarcomere length of 2 µm. Table 8.9. State variables of Rice-Winslow-Hunter model of cardiac cells describing the Ca2+ binding to troponin C. State variable Ca2+ binding to troponin C T no T Ca yes

with the sarcomere overlap function α = α(SL) and the maximal force Fmax . The force F is in the range [0, 1] representing no force and maximal possible force, respectively. The sarcomere overlap function α describes the fraction of myosin heads capable to interact with actin in such a way that force is produced (Fig. 8.15). The static behavior of the model in dependence of the calcium concentration is depicted in Fig. 8.16. The dynamic behavior resulting from a given course of the intracellular calcium concentration is shown in Fig. 8.17. Model 3. The model consists of 6 state variables, N 0, N 1, P 0, P 1, T , and T Ca with N 0 + N 1 + P 0 + P 1 = 1 and T + T Ca = 1 (tables 8.8 and 8.9, Fig. 8.18). In addition to the 1st model the conﬁguration of tropomyosin is described. The interaction between the state variables is characterized by a system of 1st order diﬀerential equations:     T T  T Ca   T Ca         ∂  N 0   = M  N0    P0  P 0 ∂t       P1   P1  N1 N1

8.3 Tension Development

253

Fig. 8.16. Steady state simulations with 1st Rice-Winslow-Hunter model for different sarcomere lengths and calcium concentrations. The steady state force F is dependent on the stretch ranging from 0.8 to 1 and the intracellular calcium concentration [Ca2+ ]i . A stretch of 0.8 corresponds to a sarcomere length of 1.6 µm, a stretch of 1 to a sarcomere length of 2.0 µm. The steady state force F for larger stretches can be determined with the sarcomere overlap function. The force F is normalized with the maximal force Fmax .

with the 6 x 6 matrix M consisting of rate coeﬃcients. The matrix M is a function of the cytosolic calcium concentration [Ca2+ ]i and of the sarcomere length SL:   0 0 0 −kon [Ca2+ ]i kof f 0   kon [Ca2+ ]i −kof f 0 0 0 0     k 0 g 0 0 −k 1 −1   M =  0 0 k −k − f g 0 1 −1    0 0 0 f −g − k−1 k1  0 0 0 0 k−1 −k1 − g with the constants k−1 , f , g, kon . The rate coeﬃcient k1 describing the interaction between the troponin and tropomyosin conﬁguration, i.e. the transfer from N 0 to P 0 and from N 1 to P 1, is a function of the variable T Ca and the sarcomere length. The rate coeﬃcient kof f is a function of force. The static behavior of the model in dependence of the calcium concentration is shown in Fig. 8.19. The dynamic behavior resulting from a given course of the intracellular calcium concentration is illustrated with Fig. 8.20. Gl¨ anzel-Sachse-Seemann Model. The so-called hybrid model combines a description of the binding of intracellular calcium [Ca2+ ]i to troponin C, the conﬁguration change of tropomyosin, and the interaction of actin and myosin

254

8 Cardiac Mechanics

Fig. 8.17. Simulations with 1st Rice-Winslow-Hunter model by variation of the stretch ratio. (a) An exemplary course of the intracellular calcium concentration [Ca2+ ]i is used in the simulations. (b) The development of force F is dependent on the stretch ratio λ ranging from 0.8 to 1.2. The force F is normalized with the maximal force Fmax developable in these simulations.

8.3 Tension Development T

N0

k on

k off

k 1(TCa,SL)

N1

g

Ca2+ k −1

255

k −1

k 1(TCa,SL)

f TCa

P0

P1 g

Fig. 8.18. State diagram of 3rd Rice-Winslow-Hunter model. The states are described in tables 8.8 and 8.9.

Fig. 8.19. Steady state simulations with 3rd Rice-Winslow-Hunter model for different sarcomere lengths and calcium concentrations. The steady state force F is dependent on stretch ranging from 0.8 to 1.2 and the intracellular calcium concentration [Ca2+ ]i . A stretch of 1 corresponds to a sarcomere length of 2 µm. The force F is normalized with the maximal force Fmax .

[354]. The calcium binding to troponin C is similarly described as in the 3rd Rice-Winslow-Hunter model [347]. The interaction of actin and myosin is adopted from Gordon et al. [355], Bers et al. [68], and Spudich [301]. The cooperativity mechanisms XB-TN, XB-XB, and TM-TM are incorporated in the hybrid model. The model uses as input the concentration of intracellular calcium [Ca2+ ]i , the sarcomere stretch λ, and the sarcomere stretch velocity v. As alternative to the intracellular calcium [Ca2+ ]i the calcium bound to troponin C can be provided as input. The model delivers as output a nor-

256

8 Cardiac Mechanics

Fig. 8.20. Simulations with 3rd Rice-Winslow-Hunter model by variation of the stretch ratio. (a) An exemplary course of the intracellular calcium concentration [Ca2+ ]i is used in the simulations. (b) The development of force F is dependent on the stretch ratio λ ranging from 0.8 to 1.2. The force F is normalized with the maximal force Fmax developable in these simulations.

8.3 Tension Development

257

Table 8.10. Rate coeﬃcients of Gl¨ anzel-Sachse-Seemann model (adapted from [351]). Rate coeﬃcients, which are modulated by further parameters, are indicated with a star. Rate coeﬃcient Model Measurement Reference ∗ −1 −1 k1 1000 ≈ 1 µM [ATP] s [356] fast, nearly irreversible [357] k−1 10 k2 1000 ≥ 1000 [355] k3 150 k3 − k−3 = 125 s−1 [358] k3 − k−3 = 168 s−1 [359] 3 k−3 15 K3 = kk−3 ≈ 10 [355, 357] k4 1000 ≥ 1000 [355] k5∗ 25 30 s−1 ≤ k5 + k−5 ≤ 50 s−1 [355] 5 k−5 8 3 ≤ K5 = kk−5 ≤5 −1 k6 50 45 s [360] 77 s−1 [361] k−6 20 20 − 30 s−1 [355] k7∗ 30 3 − 10 s−1 due to high force [355] ≥ 500 s−1 for fast contraction k8 200 ≥ 100 s−1 [355] 200 s−1 [362] 325 s−1 [360] 8 k−8 5 K8 = kk−8 ≈ 100 [355]

malized tension and optionally the intracellular calcium [Ca2+ ]i modiﬁed by calcium bound to troponin C (Fig. 8.22). The model uses 14 state variables, which are coupled by rate coeﬃcients. Two state variables, T and T Ca, detail the binding of intracellular calcium Ca2+ to troponin C (Fig. 8.21a). The state variable T describes the normalized concentration of troponin C with no bound calcium, T Ca the normalized concentration of troponin C with bound calcium. The normalization leads to: T + T Ca = 1 Two further state variables, T Mon and T Mof f , quantify the conﬁguration of tropomyosin (Fig. 8.21b). The state variable T Mon describes the concentration of tropomyosin in permissive conﬁguration, T Mof f the normalized concentration in non permissive. The normalization leads to: T Mon + T Mof f = 1 Ten state variables are used to quantify the interaction between actin and myosin, particularly the cross-bridge cycling (Fig. 8.21c). The ten variables describe normalized concentrations of myosin. The condition, that the variables sum up to 1, is used as normalization:

258

8 Cardiac Mechanics k 1(ATP) A~M ATP

A M k−1 k8

k 2(v)

k 9(v) k −8

A M ADP

k10(v)

k7 (v, λ )

T

k on (λ, XB, Cai)

TM off

k off

A M* ADP

tm off

k−3

k11(v)

(a)

TM on

(b)

k3

M ADP Pi k13(v) k−4(v)

k6 AM ADP Pi

TCa

M ATP

M ADP

k−6

tm on (TCa, λ)

k14(ATP)

M

k 12

k−5

k4

A~M ADP Pi

k5 (TMon , XB, λ )

(c)

Fig. 8.21. State diagram of hybrid model of force development. (a) Two state variables, T and T Ca, quantify the calcium binding to troponin C. (b) Two further state variables, T Mon and T Mof f , describe the conﬁguration of tropomyosin. (c) Ten state variables detail the interaction of actin and myosin as well as the hydrolysis of ATP. M and A symbolize myosin and actin, respectively. ATP, ADP, and Pi represent adenosine triphosphate, adenosine diphosphate, and phosphate, respectively. The transition between states is depicted by an arrow, strong binding by a closed circle, and weak binding by a tilde. The arrows are labeled with constants kx , which are parameters of the rate coeﬃcients functions. Further parameters, e.g. ATP, crossbridge density XB and stretch velocity v, are in brackets.

M • AT P + M • ADP • Pi + M • ADP + M +A ∼ M • AT P + A ∼ M • ADP • Pi +A • M • ADP • Pi + A • M ∗ • ADP + A • M • ADP + A • M = 1 The power stroke is performed during transition from A • M • ADP • Pi to A • M ∗ • ADP . The normalized concentration of myosin strongly bound to actin SA•M is quantiﬁed by: SA•M = A • M • ADP • Pi + A • M ∗ • ADP + A • M • ADP + A • M The interaction between the states of the model is described by a system of ﬁrst order diﬀerential equations:

8.3 Tension Development

259

Fig. 8.22. Steady state simulations with Gl¨ anzel-Sachse-Seemann model for different sarcomere lengths and calcium concentrations. The steady state force F is dependent on stretch ranging from 0.8 to 1.2 and the intracellular calcium concentration [Ca2+ ]i . A stretch of 1 corresponds to a sarcomere length of 2 µm. The force F is normalized with the maximal force Fmax .

   T T     T Ca T Ca         T Mof f T Mof f         T Mon T Mon         M • AT P M • AT P      M • ADP • Pi   M • ADP • Pi         ∂   A ∼ M • ADP • Pi  = R  A ∼ M • ADP • Pi      ∂t  A • M • ADP • Pi   A • M •∗ADP • Pi   A • M • ADP   A • M ∗ • ADP       A • M • ADP   A • M • ADP          A•M A•M      A ∼ M • AT P   A ∼ M • AT P          M M M • ADP M • ADP 

with the 14 x 14 matrix R consisting of rate coeﬃcients. Partly, the rate coeﬃcients are dependent on the sarcomere stretch velocity v, the sarcomere stretch λ, and the concentration of intracellular calcium [Ca2+ ]i . The matrix R is sparse indicating that transitions between states are only partly possible. The initial values and coeﬃcients are given in [352].

260

8 Cardiac Mechanics

The sum of tension generating states TAM is given by: TAM = A • M + A • M • ADP + A • M ∗ • ADP The normalized force F is determined by F =

α TAM Fmax

with the sarcomere overlap function α = α(λ) (Fig. 8.15), which is tissue and species speciﬁc [68, 347], and maximal tension Fmax , which is dependent on the rate coeﬃcients. The normalized force F can be multiplied by a tissue and species speciﬁc factor fT 0 to quantify force development of myocardium. The hybrid model was applied e.g. to elucidate cooperativity mechanisms by simulations [363], whereby the calcium concentration was varied and a stretch of λ = 1 was applied. Results with and without incorperation of the mechanisms are shown in Fig. 8.23. The inﬂuence of the diﬀerent cooperativity mechanisms is quantiﬁed by the Hill parameters Ca50 and N . All mechanisms lead to a left shift and steepening of the calcium-force relationship, which is indicated by a decrease of the parameter Ca50 and an increase of the parameter N .

8.4 Mechanics in Anatomical Models Descriptions of mechanical properties of myocardium can be applied in conjunction with anatomical models (Sect. 6.4) and numerical methods of mechanics to simulate the mechanical behavior of the heart [264, 266, 254, 364, 365, 366]. Diﬀerent modeling and simulation environments were developed allowing this kind of reconstruction of the cardiac behavior: • • •

CMISS developed at Bioengineering Institute, Auckland, NZ [367]. Continuity developed of the cardiac mechanics research group, Department of Bioengineering and the Whitaker Institute for Biomedical Engineering, UCSD, USA [368]. MEET Man tools developed at the Institut f¨ ur Biomedizinische Technik, Universit¨ at Karlsruhe (TH) [132].

All these environments apply primarily the ﬁnite element method for continuum mechanics modeling (Sect. 4.3) . Coupling of Passive Mechanics and Force Development. In continuum mechanics based modeling the coupling between force development and passive mechanics models is performed via deﬁnition of summary stress. In incompressible, hyperelastic solids the summary second Piola-Kirchhoﬀ stress tensor S is composed of: ∂W − pδij + Sactive,ij Sij = ∂Eij

8.4 Mechanics in Anatomical Models

1

1.2

1. Ca50 = 0.283, N = 4.307 2. Ca50 = 0.392, N = 2.828 Normalized force [N/N]

Normalized force [N/N]

1.2

0.8 0.6 0.4 0.2 0 0.01

0.1 1 Calcium concentration [µM]

1

1. Ca50 = 0.283, N = 4.307 2. Ca50 = 0.389, N = 2.240

0.8 0.6 0.4 0.2 0 0.01

10

261

0.1 1 Calcium concentration [µM]

(a)

10

(b)

Normalized force [N/N]

1.2 1

1. Ca50 = 0.283, N = 4.307 2. Ca50 = 0.793, N = 1.341

0.8 0.6 0.4 0.2 0 0.01

0.1 1 Calcium concentration [µM]

10

(c) Fig. 8.23. Evaluation of cooperativity mechanisms (adapted from [354]). Simulations are performed (1) with and (2) without the mechanisms (a) XB-TN, (b) XB-XB, and (c) TM-TM. The Hill parameters Ca50 and N quantify the diﬀerences resulting from incorporating the diﬀerent mechanisms.

with the strain energy density function W , the Green-Lagrange strain tensor E, the Kronecker delta δ, the hydrostatic pressure p, and the active tension tensor S active . In a local, cartesian coordinate system the active tension tensor S local,active is given by:   sf iber,active 0 0 0 0 0 S local,active =  0 00 with the scalar tension in ﬁber direction sf iber,active , which is commonly set using data from measurements or simulations. In the local coordinate system the x-axis is aligned with the ﬁber orientation. Alternatively, the active tension tensor S local,active may be deﬁned as:   0 0 sf iber,active  0 0 ssheet,active S local,active =  0 0 snormal,active with the scalar tension in ﬁber direction sf iber,active , in sheet direction ssheet,active , and in sheet normal direction snormal,active . This deﬁnition al-

262

8 Cardiac Mechanics

Fig. 8.24. Left ventricle approximated with 3752 cubic elements.

(a)

(b)

Fig. 8.25. Myocyte orientation in (a) central short and (b) central long axis slice. The endocardial, midwall and epicardial myocyte orientation is set to −45◦ , −45◦ , and −45◦ , respectively.

lows the inclusion of active tension transversal to the ﬁber direction resulting e.g. from inhomogeneities of sarcomere orientation and microstructural considerations of the cross-bridge cycling. The active tension tensor in local coordinate system S local,active is transferred in the global coordinate system by: Sactive,ij = Rik Rjl Slocal,active,kl with the rotation matrix R describing the transform from local to global coordinate system.

8.4 Mechanics in Anatomical Models

(a)

(b)

(c)

(d)

263

Fig. 8.26. Myocyte orientation in (a,c) central short and (b,d) central long axis slice. (a,b) The endocardial, midwall and epicardial orientation is set to −45◦ , 0◦ , and 45◦ , respectively. (c,d) The orientation is to 0◦ , 0◦ , and 0◦ , respectively.

Exemplary Simulations. Simulations were performed to illustrate the mechanical eﬀects of myocyte orientation in the left ventricular wall. The orientation of myocytes is reported to be dependent on the depth [111, 112]. The left ventricle is approximated by a truncated, thick ellipsoid. The half ellipsoid is discretized with 3752 cubic elements (Fig. sﬁ8.24). Assigned to the elements vertices are node variables, which describe a displacement vector. The displacement, tension and strain is trilinearly interpolated inside of an element. In the simulations three diﬀerent orientations are assigned to the endocardial, midwall, and epicardial layer (Fig. 8.25 and 8.26). The orientation in the regions in between is interpolated with the techniques described in Sect. 5.6.3.

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Fig. 8.27. Deformation of ventricle model. The endocardial, midwall and epicardial myocyte orientation is set to −45◦ , −45◦ , and −45◦ , respectively. The deformation is visualized in (a) full, (b) short axis cutted, and (c) long axis cutted ventricle. Green arrows indicate the displacement of a vertex. The white lattice represents the initial conﬁguration.

Attributed to each element of the ellipsoid is a hyperelastic anisotropic material description assuming incompressibility. The material law of Guccione et al. is used, which reconstructs orthotrophic properties (Sect. 8.1) [254]: C Q e −1 2 2 2 2 2 + ERR + ECR + ERC ) Q = 2b1 (ERR + EF F + ECC ) + b2 EF2 F + b3 (ECC 2 2 2 2 + b4 (ERF + EF R + EF C + ECF )

W =

with the parameter C, b1 , b2 , b3 , b4 , and the components of the GreenLagrange strain tensor E. As parameters are chosen: C = 0.6 kP a, b1 = 0, b2 = 26.7, b3 = 2.0, and b4 = 14.7.

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Fig. 8.28. Deformation of ventricle model. The endocardial, midwall and epicardial myocyte orientation is set to −45◦ , 0◦ , and 45◦ , respectively. The deformation is visualized in (a) full, (b) short axis cutted, and (c) long axis cutted ventricle. Green arrows indicate the displacement of a vertex. The white lattice represents the initial conﬁguration.

The ﬁnite element method is applied to determine the mechanical deformation in the ventricle resulting from given forces (Sect. 4.3). A numerical evaluation of integral equations resulting from the principal of virtual displacements is performed delivering element- and time-step-wise linear systems of equations. These equations are assembled into the system equations, which are modiﬁed by boundary conditions. The system of equations is solved by the conjugate gradient method (Sect. 2.4.3). Anatomically motivated boundary conditions are chosen. The half ellipsoid is ﬁxed at its top layer with the opening. A tension sf iber,active of 1 kP a is applied in ﬁber direction homogeneously in each element. Results of simulations are illustrated in the Fig. 8.27, 8.28, and 8.29. The simulation with orientations equal to 0◦ shows a signiﬁcant long axis stretch-

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Fig. 8.29. Deformation of ventricle model. The endocardial, midwall and epicardial myocyte orientation is set to 0◦ , 0◦ , and 0◦ , respectively. The deformation is visualized in (a) full, (b) short axis cutted, and (c) long axis cutted ventricle. Green arrows indicate the displacement of a vertex. The white lattice represents the initial conﬁguration.

out and shrinking in short axes direction. Orientations of −45◦ lead to a long axis shortening and short axes stretch. The model with endocardial, midwall and epicardial orientation set to −45◦ , 0◦ , and 45◦ , respectively, maintains its shape.

9 Modeling of Cardiac Electro-Mechanics

9.1 Introduction Eﬃcient working of the heart necessitates an adaptation to suddenly emerging demands and loads. The adaptation is performed by a well ordered interplay between cellular electrophysiology, intercellular excitation propagation and cellular force development. Diﬀerent feedback mechanisms, i.e. mechanoelectrophysiological and mechano-force development feedbacks, support the interplay. A reconstruction of this interplay can be achieved by coupled models of diﬀerent type, particularly anatomical, electrophysiological, force development and deformation models. In this chapter strategies for reconstruction of heart’s electro-mechanic function are introduced. The modeling includes intra-cardiac, short-term adaptation phenomena. Middle-term transients are neglected, e.g. stimulus frequency dependence of intracellular concentration of calcium and of calcium loading of sarcoplasmic reticulum. Long-term adaptations, e.g. by macroscopic anatomical adaptation and varying densities of transmembrane proteins, are not on target. Also, metabolic and hormonal eﬀects are not considered. In the following sections electro-mechanic models at cellular, macroscopic and whole heart level are presented, which result from a coupling of diverse models. The electro-mechanic models are illustrated by simulations. Electromechanic models of diﬀerent levels and applied techniques are shown: •

•

Models of electrophysiology and force development at level of single cell. The models are described by systems of coupled ordinary diﬀerential equations. The models include geometric descriptions. The resultant stretch is derived. Excitation propagation and cardiac force development at whole heart level. A rule-based method, a cellular automaton, is working in the spatial domain of a realistic anatomical heart model.

F.B. Sachse: LNCS 2966, pp. 267–289, 2004. c Springer-Verlag Berlin Heidelberg 2004

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Geometry

Intracellular electrophysiological states

Intracellular force development states

Fig. 9.1. Modeling of coupled cellular electro-mechanics. Changes in geometry can lead to stretch of sarcomere, which inﬂuences the cellular electrophysiology and force development. Electrophysiological models determine the course of intracellular calcium concentration, which is used as input for the force development model.

•

Electro-mechanics in areas of myocardium. Cellular models of electrophysiology and force development are coupled with excitation propagation and deformation models. The excitation propagation is reconstructed with the bidomain model. For simulation of deformation the mechanical material properties are described as hyperelastic.

9.2 Electrophysiology and Force Development of Single Cells Muscle cells control the development of force in the myoﬁlaments via the intracellular calcium concentration and stretch of sarcomere. The coupling of electrophysiology and force development can be simulated with combined cell models, which reconstruct the binding of cytosolic calcium to troponin C and the calcium release from troponin C into the cytosol. Only some recently developed electrophysiological cell models include explicitly the calcium interaction with troponin, e.g. the Demir-Clark-MurpheyGiles and Noble-Varghese-Kohl-Noble model (Fig. 7.24). The therewith achieved knowledge concerning the concentration of calcium bound to troponin C allows the determination of actin sites available for cross-bridge binding. Alternatively, calcium-troponin interaction can be formulated explicitly by a force model, e.g. Landesberg-Sideman, Hunter-McCulloch-ter Keurs and 3rd Rice-Winslow-Hunter model. A further alternative are models, which neglect an explicit description of calcium-troponin interaction, e.g. 1st Rice-WinslowHunter model. Input parameter for both types of model is the cytosolic concentration of calcium. Simulations with combined electrophysiology and force development models are shown in Fig. 9.3, 9.2, 9.4, and 9.5. The cytosolic concentration of

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Fig. 9.2. Simulations with Noble-Varghese-Kohl-Noble and 1st Rice-WinslowHunter model. The cell is excited by applying a stimulus current at t = 25 ms with a length of 3 ms. The course of (a) transmembrane voltage Vm and (b) calcium concentration [Ca2+ ]i is typical for a ventricular myocyte of guinea pig. (c) The development of force F is dependent on static stretch ranging from 0.8 to 1. The force F for larger stretches can be determined with the sarcomere overlap function. The force F is normalized with the maximal force Fmax .

calcium serves in conjunction with the sarcomere stretch as input parameter for the force models. The data following the 100th excitation at a frequency of 1 Hz were used for visualization to avoid artifact resulting from imprecise initial values. The underlying system of ordinary diﬀerential equation was solved with the Euler method.

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Fig. 9.3. Simulations with Luo-Rudy and 3rd Rice-Winslow-Hunter model. The cell is excited by applying a stimulus current at t = 25 ms with a length of 3 ms. The course of the (a) transmembrane voltage Vm and (b) calcium concentration [Ca2+ ]i is reconstructed for ventricular myocytes of guinea pig.. (c) The development of force F is dependent on static stretch ranging from 0.8 to 1.2. The force F is normalized with the maximal force Fmax .

The simulations with the combined Noble-Varghese-Kohl-Noble and 1st Rice-Winslow-Hunter model show non-realistic lengths and oﬀsets of developed force (compare Fig. 8.16 and 8.17), which can be reduced by careful parameterization. The simulations with the 3rd Rice-Winslow-Hunter model (Fig. 9.3 and 9.4) reveal consistent shapes of the developed cellular force. Diﬀerences of

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Fig. 9.4. Simulations with Noble-Varghese-Kohl-Noble and 3rd Rice-WinslowHunter model. The cell is excited by applying a stimulus current at t = 25 ms with a length of 3 ms. The course of (a) transmembrane voltage Vm and (b) calcium concentration [Ca2+ ]i is typical for ventricular myocytes of guinea pig. (c) The development of force F is dependent on static stretch ranging from 0.8 to 1.2. The force F is normalized with the maximal force Fmax .

length and amplitude can be attributed to diﬀerences in the reconstruction of the intracellular calcium concentration by the electrophysiological LuoRudy phase-2 and Noble-Varghese-Kohl-Noble models. The calcium-troponin interaction is described explicitly by the 3rd Rice-Winslow-Hunter model and the Noble-Varghese-Kohl-Noble model. The calcium binding to troponin C is neglected in the Luo-Rudy phase-2 model.

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Fig. 9.5. Simulations with Priebe-Beuckelmann and Gl¨ anzel-Sachse-Seemann model. The cell is excited by applying a stimulus current at t = 25 ms with a length of 3 ms. The course of (a) transmembrane voltage Vm and (b) calcium concentration [Ca2+ ]i is typical for normal human ventricular myocytes. (c) The development of force F is dependent on static stretch ranging from 0.8 to 1.2. The force F is normalized with the maximal force Fmax .

The simulations with the Gl¨ anzel-Sachse-Seemann and a modiﬁed PriebeBeuckelmann model aimed at reconstruction of electro-mechanics of human ventricular cells [197]. These models allow the quantitative reconstruction of various electro-mechanical phenomena at cellular level. The modiﬁcation of the Priebe-Beuckelmann model concerned the calcium handling of myocytes, which was adapted to data obtained by recent studies [369]. The

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Geometry

Intracellular electrophysiological states

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Intracellular electrophysiological states

Geometry

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Extracellular current sources

Macroscopic electrical material properties

Intracellular current sources

Extracellular potential

Parameterization

Fig. 9.6. Modeling of cardiac force development with cellular automaton at whole heart level. The cellular automaton is illustrated in the upper part. The automation is parameterized by prior simulations. The simulations are performed at cellular level with electrophysiological and force development models as well as with an excitation propagation model.

Gl¨ anzel-Sachse-Seemann model was parameterized in such a way that the static calcium-force relationship is similar to measurements in human myocardium. Human myocytes show signiﬁcantly prolonged durations of action potential and calcium transient in comparison to myocytes of guinea pigs. The resulting force transient is as well prolonged.

9.3 Cellular Automaton of Cardiac Force Development A cellular automaton can be used to simulate force development in areas of myocardium and in the whole heart [370, 371, 372, 373]. The automaton, introduced in Sect. 7.3.3 for simulation of cardiac electrophysiology, allows to calculate force distributions on base of anisotropic electrical excitation propagation in anatomical models (Fig. 9.6).

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Fig. 9.7. Simulation of force development with cellular automaton. (a) The images sequence shows the transmembrane voltage at heart surface for time 16 ms, 76 ms, and 136 ms after activation of sinus node. (c) The sequence represents force at corresponding times. (b) Transmembrane voltage and (d) force are color coded using a palette.

The ﬁnite automaton at each node is parameterized with results from numerical simulations with cellular electrophysiologic, force development and excitation propagation models, e.g. simulations similar to those shown in Fig. 9.4. For that purpose, a large number of simulations was performed varying the cell model and the stimulus frequency. The simulations deliver tissue and stimulus frequency speciﬁc courses of the cellular force. The stretch dependence of force development can be included as a further parameter of the simulations for parameterization. Alternatively, some force models allow an a-posteriori scaling of the calculated force by stretch. E.g. the a-posteriori scaling of the 1st Rice-Winslow-Hunter model is achieved by applying the sarcomere overlap function (equation 8.15).

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Fig. 9.8. Simulation of force development with cellular automaton. (a) The images sequence shows the transmembrane voltage at heart surface for time 376, 436 ms, and 556 ms after activation of sinus node. (c) The sequence represents force at corresponding times. (b) Transmembrane voltage and (d) force are color coded using a palette.

Result of a simulation with the cellular automaton is the temporal and spatial distribution of the force development for each cell (Fig. 9.7, 9.8, 9.9 and 9.10). The distributions can be applied in subsequent calculations of cardiac mechanical deformation, e.g. in conjunction with methods of continuum mechanics.

9.4 Electro-Mechanics of the Myocardium 9.4.1 Overview A simulation environment was developed [374, 375, 376, 377, 252, 378], which has the purpose to achieve knowledge concerning the cardiac deformation

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Fig. 9.9. Simulation of force development with cellular automaton. (a) The images sequence shows the transmembrane voltage in heart surface for time 16 ms, 76 ms, and 136 ms after activation of sinus node. (c) The sequence represents force at corresponding times. (b) Transmembrane voltage and (d) force are color coded using a palette.

and its inﬂuence to the initiation and propagation of electrical excitation and to the force development. The environment combines and extends the cellular electrophysiological and force development models as well as macroscopic propagation models, which were presented in previous chapters. The environment consists of • • • •

a cellular electrophysiological model with possibly stretch dependent behavior a bidomain model for excitation propagation taking stretch into account a cellular model of the force development with inclusion of stretch an elastomechanical model

The interdependencies of the diﬀerent data are depicted in Fig. 9.11.

9.4 Electro-Mechanics of the Myocardium

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Fig. 9.10. Simulation of force development with cellular automaton. (a) The images sequence shows the transmembrane voltage in heart surface for time 376, 436 ms, and 556 ms after activation of sinus node. (c) The sequence represents force at corresponding times. (b) Transmembrane voltage and (d) force are color coded using a palette.

Inﬂuence of Stretch to Intra- and Extracellular Conductivity Tensors. An extension of the mono- and bidomain model was proposed (Sect. C), which allows to take the deformation of tissue into account for the calculation of electrical conductivities (Fig. 9.12). This extension delivers conductivity tensors σi and σe for the intra- and extracellular space, respectively. The conductivity tensors follow the rules of model assumptions. In the following simulations a diﬀerent behavior due to stretch of the extraand intracellular conductivity tensor is assumed [374]:

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9 Modeling of Cardiac Electro-Mechanics Intracellular force development states

Intracellular electrophysiological states

Extracellular current sources

Material Displacements

Macroscopic electrical material properties

Macroscopic mechanical material properties

Intracellular current sources

Extracellular potential

Fig. 9.11. Modeling of electro-mechanics in myocardium. Models of electrophysiology and force development at cellular level are coupled with excitation propagation and deformation models.

• •

The intracellular conductivity tensor σi is primarily inﬂuenced by the resistors Rgj of the gap junctions. These resistors Rgj are stretch independent. The extracellular space behaves like an incompressible ﬂuid. The extracellular conductivity tensor σe is not inﬂuenced by stretch.

These physically motivated assumptions simplify the behavior of the conductivity tensors and allow their eﬃcient calculation. 9.4.2 Simulations Static Model of Heart Wall. The simulation serves to explore the propagation of excitation and force development in a static area of ventricular free wall (Fig. 7.44) [252]. The wall area was modeled as described in Sect. 7.3.4 and consists of 150 x 150 x 125 elements with a size of 0.2 mm x 0.2 mm x 0.2 mm reconstructing the electrophysiology and force development of ventricular cells. In each cell the Noble-Varghese-Kohl-Noble and 3rd Rice-Winslow-Hunter model were coupled. Both cellular models were calculated by the Euler method

9.4 Electro-Mechanics of the Myocardium

279

Gap junction resistor Myocyte Extracellular space

Stretch

Fig. 9.12. Coupling of myocytes with gap junctions and through the extracellular space. The deformation of a region changes the intra- and extracellular conductivity. The resistor yielded by the gap junction is not changed.

(a)

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(e)

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Fig. 9.13. Force development in static model of heart wall at diﬀerent points in time. The simulated normalized force is visualized with volume based techniques at (a) 30 ms, (b) 65 ms, (c) 130 ms, (d) 290 ms, (e) 340 ms, and (f) 410 ms.

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Fig. 9.14. Transmembrane voltage at time (a) 0 ms, (b) 3 ms, (c) 5 ms, and (d) 8 ms in an anisotropic model of myocardial area. The model consists of 20 x 20 x 20 cubic voxels with a size of 0.1 mm x 0.1 mm x 0.1 mm.

with a time step of 20 µs to solve the underlying ordinary diﬀerential equations. The traditional bidomain model was applied to interconnect the electrophysiological cell models. Poisson’s equations as parts of the bidomain model were solved with the ﬁnite-diﬀerences method. A Gauss-Seidel iteration at every 20 µs was carried out to solve these diﬀerential equations. The excitation propagation at diﬀerent points is shown in Fig. 7.46. Correspondingly, the propagation of force development is illustrated with Fig. 9.13. The propagation of force development follows the propagation of electrical excitation with a delay, which is found similarly in single cell simulations. The developed force is inhomogeneously distributed in the wall resulting from diﬀerences of the underlying electrophysiology. Electro-Mechanical Model of Myocardium Block. Simulations were performed with fully coupled electro-mechanical models of a myocardial area. The applied anatomical model consisted of 20 x 20 x 20 cubic voxels, each

9.4 Electro-Mechanics of the Myocardium

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Fig. 9.15. Color-coded normalized force and deformation at time (a) 0 ms, (b) 50 ms, (c) 100 ms, (d) 150 ms, (e) 200 ms, and (f) 250 ms in an anisotropic model of myocardial area. The model consists of 20 x 20 x 20 cubic voxels with a size of 0.1 mm x 0.1 mm x 0.1 mm. Central positions in the plane z = 0 were ﬁxed, i.e. the displacements were set to zero. The wire frame shows the reference conﬁguration.

with a size of 0.1 mm x 0.1 mm x 0.1 mm. The activation was initiated at time 0 ms by application of a suﬃcient electrical current at plane z = 0. The principal axis of myocytes was chosen parallel to the z-axis. Transversal isotropy of the electrical conductivities was set. Anisotropy of the elastomechanical parameters and incompressibility was assumed. Central positions of the plane z = 0 were ﬁxed, i.e. the displacements were set to zero. The simulations were performed applying the Euler method with a time step of 20 µs to solve the ordinary diﬀerential equations of the electrophysiological and force development model, i.e. the Noble-Varghese-Kohl-Noble and 3rd Rice-Winslow-Hunter model, respectively. Diﬀerential equations of the bidomain model were solved using the ﬁnite element method with a GaussSeidel iteration every 20 µs. The material law of Hunter-Nashs-Sands was employed to describe the passive mechanics of the myocardium. The deformation was calculated with a time step of 1 ms. The system of linear equations resulting from the elastomechanical model was solved by the conjugate gradient method. The results were visualized with surface and volume based techniques (Fig. 9.14 and 9.15). The simulations with the combined model show processes of diﬀerent time scale. The process of excitation propagation is rapidly spreading over the myocardium (Fig. 9.14). The force development and the resulting

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deformation follow with a signiﬁcant delay (Fig. 9.15). In contrast to static simulations, e.g. those presented in the previous paragraph, a decrease of force can be found, which is primarily attributed to stretch dependence of force development models. Electro-Mechanical Model of Left Ventricle. An integrated electromechanical ventricular model was investigated by exemplary simulations. The environment of the model was similar to those of the classical Langendorﬀ studies [379]. The simulations represented a cardiac cycle including electrical de- and repolarization as well as mechanical contraction and relaxation. The ventricle was approximated by crop of two confocal truncated ellipsoids (Sect. 6.4.2). The size of these ellipsoids was chosen in such a manner, that the resulting model has similar size as a small animal’s left ventricle. The ventricle’s geometry and ﬁber orientation was rendered in lattices of 40 x 40 x 50 and 20 x 20 x 25 cubic elements with a length of 200 and 400 µm, respectively. The macroscopic orientation of myocytes was included by interpolation starting from boundary conditions in three depths of the myocardium. The orientation was set subepicardial to −70◦ , midwall 0◦ , and subendocardial 70◦ reﬂecting knowledge from anatomical studies [111]. The lattice with high resolution was applied for simulation of cellular electrophysiology, excitation propagation, and force development. The low resolution lattice served for simulation of passive mechanics. An intracellular conductivity tensor was assigned to all cells of the high resolution lattice taking tissue, material and ﬁber orientation into account. The Noble-VargheseKohl-Noble, the hybrid model of force development and a monodomain model of intercellular current ﬂow [380] were attributed to all cells of the high resolution lattice, which were assigned to myocardium. In all cells of the low resolution lattice a model of passive mechanics was assigned. The orthotropic material law of Guccione et al. was attributed to cells containing myocardium (Sect. 8.1) [254], a linear law to the other cells. Basal positions of the ventricular model were ﬁxed in such a manner that displacements in direction of the ellipsoid’s long axis were impossible and radial displacements were preferred. The maximal tension Tmax was set to 10 kP a in the ﬁrst simulations. In further simulations it was set to 5, 10, and 20 kP a. An exemplary simulation had a duration of 800 ms started by applying an electrical stimulus at all voxels in the apical third of the subendocardial myocardium. Only voxels bordering directly to the endocardial cavity were taken into account. The stimulus applied a current of 10 µA at time t = 0 ms for a duration of 1 ms. Every 20 µs a calculation of the electrophysiological, excitation propagation, and tension development model assigned to each voxel was performed. The displacements were determined every 5 ms and delivered to the electrophysiological, excitation propagation, and tension development model.

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Table 9.1. Parameters extracted from simulation results (from [381]). The maximal slope of transmembrane voltage Vm and tension T was used to characterize onset of electrical excitation and tension development, respectively. The value AP D90 identiﬁes the duration between onset of electrical excitation and repolarization to 90 % of amplitude. The value T D90 is determined by duration between onset of tension development and return to 90 % of amplitude. Simulation results were stored with a temporal discretization of 5 ms. The parameter extraction was performed applying linear interpolation. Position

time Max [ms] epicardial apex 2.5 equatorial midwall 27.5 basal midwall 37.5

∂Vm ∂t

AP D90 time Max [ms] [ms] 328.7 87.5 325.0 97.5 318.5 117.5

∂T ∂t

T D90 [ms] 440.1 430.6 444.1

The simulations with the integrated model showed a rapid spread of electrical excitation characterized by depolarisation of cell membrane from apicalendocardial to basal-epicardial (table 9.1). A homogeneous distribution of transmembrane voltage was found during the plateau phase, whereby the homogeneity decreased over time. The spread of repolarisation followed the same patterns as found for depolarisation. The spread of tension development occurred with delay similar to the spread of electrical excitation (table 9.1). The tension development was found to be homogeneous in the early stages, but inhomogeneity was signiﬁcant for later stages. The inhomogeneity was resulting from an inhomogeneous distribution of strain and intracellular calcium after initial static stages of simulation. The deformation of the ventricle, described by displacements of node points, is illustrated in Fig. 9.16 and 9.17. The deformation led to a signiﬁcant decrease of endocardial volume and increase of wall thickness. The apical and equatorial regions showed a torsion as well as a signiﬁcant radial and a minor displacement in basal direction. Regions at the basal border moved radial. In a further set of simulations, the maximal tension Tmax was varied. The endocardial volume was decreased during the contraction to maximal 84, 74, and 61 % of its reference volume for a maximal tension of 5, 10, and 20 kP a, respectively. The course of volume decrease was similar for the diﬀerent tension factors (Fig. 9.18). The transmembrane voltages and intracellular calcium concentrations vary only slightly for diﬀerent tension factors and measurement positions (Fig. 9.19 a,b). Signiﬁcant diﬀerences are found for tension development (Fig. 9.20). Normalized developed tensions T were larger for small tension factors. The diﬀerences can be attributed to the decrease in stretch by increase of tension factors. This decrease leads to reduced calcium-troponin C binding and small values in the sarcomere overlap function.

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Fig. 9.16. Apical view on deformation at time (a) 0 ms, (b) 100 ms, (c) 200 ms, and (d) 300 ms in electro-mechanical model of left ventricle (from [381]). A half of the ventricle’s model is shown with a bright wire-frame as reference conﬁguration. Arrows indicate displacements at node points.

Electro-Mechanical Biventricular Model. The ventricles’ geometry and ﬁber orientation were rendered as described in Sect. 6.4.2 and 9.4.2 in two lattices of 48 x 36 x 44 and 24 x18 x22 cubic elements with a length of 200 and 400 µm, respectively. An exemplary simulation was performed as described in section 9.4.2 applying models of electrophysiology, tension development, and passive mechanics. Electrical boundary conditions were added for the right ventricle. Mechanical boundary conditions were assigned only for the left ventricle. Results of the simulation are presented in Fig. 9.21. Electro-Mechanical Biventricular Model Based on Diﬀusion Weighted MRT. The geometry and ﬁber orientation of the canine’s ventricles were modeled as described in Sect. 6.4.6) and stored as depicted in Sect. 9.4.2 in two lattices of 128 x 128 x 96 and 32 x 32 x 24 cubic elements with a length of 800 and 3200 µm, respectively. The lattice for modeling electrophysiology and tension development is illustrated in Fig. 6.30 and 6.31.

9.4 Electro-Mechanics of the Myocardium

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Fig. 9.17. Apical view on deformation at time (a) 400 ms, (b) 500 ms, (c) 600 ms, and (d) 700 ms (from [381]).

Fig. 9.18. Ratio of endocardial volume. The ratio between the volume of left ventricular cavity in deformed and undeformed conﬁguration is dependent on the tension produced by contractile units. The course of the volume ratio is shown calculated by simulations with a maximal tension Tmax of 5, 10 and 20 kP a.

An exemplary simulation was performed as detailed in section 9.4.2. Mechanical boundary conditions ﬁxed the myocardium in the basal endocardial rim of the left ventricle. Results of the simulation are shown in Fig. 9.22.

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Fig. 9.19. (a) Transmembrane voltage Vm and (b) concentration of intracellular calcium [Ca2+ ]i at diﬀerent positions and for diﬀerent maximal tensions Tmax . Maximal tensions of 5, 10 and 20 kP a were assigned to the contractile units. Positions at the epicardial apex, equatorial midwall, and basal midwall were selected.

Fig. 9.20. Normalized tension at diﬀerent positions and for diﬀerent maximal tensions Tmax . Maximal tensions of 5, 10 and 20 kP a were assigned to the contractile units. Positions at the epicardial apex, equatorial midwall, and basal midwall were selected.

9.4 Electro-Mechanics of the Myocardium

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Fig. 9.21. Results of simulation with analytical biventricular model (from [131]). (a) Full and (b) halved model are shown at time of maximal developed tension. The displacement of vertices is indicated by arrows. The white wire frame describes the initial conﬁguration. The course of developed tension at apical, equatorial, and basal midwall positions is depicted on the left side.

9.4.3 Limitations and Perspectives Diﬀerent limitations of the simulations with the electro-mechanical models can be assigned, which aim at reconstruction of short-term phenomena. The applied anatomical model approximated the cardiac tissue and ﬁber distribution in parts. Further anatomical structures were not included, e.g. papillary muscles, pericardium, and atria. Transmural inhomogeneities of myocardium [382] and lamination of ventricular myocardium [108] were not represented by the anatomical model, but the electrophysiological and mechanical models are capable of reconstructing of inhomogeneity and full anisotropic effects. More detailed anatomical models can be generated e.g. using medical imaging systems [136]. The application of mechano-electrical feedback mechanisms in the integrated models was restricted to incorporation of modulation of calcium binding to troponin C and modulation of sarcoplasmic leak current. Stretch activated sarcolemmal ion channels were deactivated. Mechanical and electrical boundary conditions were simpliﬁed in the presented simulations. Endocardial pressure and valve mechanics were not taken into account in the presented simulations. Nevertheless, interfaces for incorporation various boundary conditions are provided in the integrated model, e.g. pressure at endocardial surfaces and residual stress. Mechanical boundary conditions can be determined by coupling of the integrated model to model of ﬂuid and valve mechanics. The models showed to be challenging concerning computing resources. Particularly the modeling of deformation demands signiﬁcant parts of calculation time. Exploiting of new numeric methods, e.g. meshless techniques for solving

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(d)

Fig. 9.22. Results of simulation with diﬀusion weighted MRT biventricular model (from [131]). Several aspects of electrophysiology and mechanics in halved model are illustrated: distribution of transmembrane voltage Vm at time (a) 15 and (b) 300 ms, (c) the distribution of intracellular calcium [Ca2+ ]i at time 20 ms, and (d) tension developed at 35 ms, i.e. an initial phase of contraction. The displacement of vertices is indicated by arrows. All times are referenced to the time of application of stimulus.

of diﬀerential equations [383], and software development, e.g. Grid technologies for computing, seems to be a chance to satisfy these demands. The presented ventricular simulation was performed on a shared memory computing server of type SGI Origin 2000 with 8 processors of type R10000 195 MHz claiming 7 processors each for a time 120 h. The simulations with the analytical and MRT based biventricular model were performed on a shared memory computing server of type SGI Origin 3000 using 16 of 64 processors of type R14000 600 MHz each for a time 32 and 72 h, respectively. Parallelization of computationally expensive tasks was achieved on basis of the OpenMP API [384]. Demands of extendability can be deﬁned concerning the further development of the presented framework for modeling of cardiac electro-mechanics,

9.4 Electro-Mechanics of the Myocardium

289

i.e. providing interfaces to external modeling, simulation and numerical environments, e.g. to CellML for storage and exchange of computer-based biological models [385] and SCIRun/BioPSE [386]. Upcoming speciﬁcations and formalizations of information in biology, medicine and mathematics have to be taken into account for further development, e.g. AnatML for exchanging information at organ level and FieldML for describing ﬁeld information using ﬁnite elements. Despite the limitations of the models characteristic micro- and macroscopic phenomena of cardiac electro-mechanics were reconstructed. The presented methods show a strategy, which can be adapted e.g. for improvement of biomedical instrumentation and pharmaceuticals as well as of clinical cardiologic diagnosis and planning of therapies. The inclusion of patient speciﬁc data ranging from genetic scans to medical images is possible and oﬀers the adaptation of models to patient speciﬁc characteristics.

Appendix

A Physical Units and Constants Table A.1. Physical units. Quantity

Symbol

Unit

C Q I J W σ E D φ R φ F f l H B m P t

F C A A m−2 W s (Ω m)−1 V m−1 A s m−2 V Ω V N s−1 m A m−1 V s m−2 kg W s

Capacity Charge Current Current density Energy Electric conductivity Electric field Electric flux density Electric potential Electric resistor Electric voltage Force Frequency Length Magnetic field Magnetic flux density Mass Power Time

Table A.2. Physical constants. Symbol Description 0 µ0 c e F N R D

Permittivity in vacuum Permeability in vacuum Velocity of light Elementary charge Faraday’s constant Avogadro’s number Gas constant Dalton, atomic unit of mass

F.B. Sachse: LNCS 2966, pp. 291–298, 2004. c Springer-Verlag Berlin Heidelberg 2004

Value

Dimension 10−12

8.8542 · 1.2566 · 10−6 2.99792456 · 108 1.6021773 · 10−19 9.64853 · 104 6.022 · 1023 8.31451 1.66 · 10−27

A s V −1 m−1 V s A−1 m−1 m s−1 C C mol−1 mol−1 J K −1 mol−1 kg

292

Appendix

B Diﬀerential Operators The deﬁnition of the following operators simpliﬁes the notation of diﬀerential equations with vectorial components. These equations are frequently occurring describing phenomena in electromagnetics. The operators are illustrated with three-dimensional operands, but a generalization for arbitrary dimensions is straightforward possible. The gradient or so-called nabla operator ∇ consists of spatial derivatives and is deﬁned in a Cartesian coordinate system as:   ∂ ∂x  ∂   ∇≡  ∂y  ∂ ∂z whereby the variables x, y and z describe commonly coordinates in a threedimensional domain. The operator · indicates a scalar or inner product: a · b ≡ a1 b 1 + a2 b 2 + a3 b 3 with the three-dimensional vectors a and b. The composite operator ∇· is named divergence: ∇·a≡

∂a2 ∂a3 ∂a1 + + ∂x ∂y ∂z

The cross product operator × is given by:   a2 b 3 − a3 b 2 a × b ≡  a3 b 1 − a1 b 3  a1 b 2 − a2 b 1 The composite operator ∇× is termed curl operator:   ∂a3 − ∂a2 ∂z   ∂y   ∇ × a ≡  ∂a1 − ∂a3  ∂x   ∂z ∂a2 − ∂a1 ∂x ∂y

C Model of Stretch-Dependent Conductivity

(a)

293

(b)

Fig. C.1. Deformation of two-dimensional grid of resistors with (a) reference conﬁguration and (b) deformed conﬁguration.

C Model of Stretch-Dependent Conductivity C.1 Model Assumptions A model of stretch-dependence of electrical conductivities was proposed describing transformations of conductivity attributed to a medium, which is deformed starting from the reference conﬁguration [374]. Motivated is the model by two types of possible conductivity changes: • •

Conductivity is unchanged and independent of deformation. The associated resistor between two arbitrary points remains the same in reference and deformed conﬁguration.

The ﬁrst type can be understood as a ﬂuid-like behavior. The second type represents a behavior as shown by a grid of electrical resistors (Fig. C.1). The resistor between arbitrary node points is independent of the deformation. Also, the potential at node points resulting from applied current is independent of the deformation. In principal the model of stretch-dependence of electrical conductivities is based on extracting stretch of regions resulting from an arbitrary deformation. The extracted stretch is used to transform a conductivity tensor attributed to the reference conﬁguration. Diﬀerent weights allow choosing a speciﬁc behavior of the conductivity. Two formulations of stretch-dependence of electrical conductivities were proposed: a general and a restricted formulation. The general formulation is capable of handling full anisotropic material properties and arbitrary continuous deformations. The restricted formulation serves primarily for demonstration of the method and is only applicable if the deformation gradient is restricted in such a way, that the decomposition of the deformation gradient in a rotation and diagonal stretch tensor is possible.

294

Appendix

C.2 General Formulation Assumption. A conductivity tensor σ is modiﬁed by stretch to the conductivity tensor σs : σs =

1 W σW T detW

with the second order weighting tensor W . The tensor allows the transformation of the conductivity in such a way, that the upper two cases of conductivity changes and in between lying cases are selectable by a weighting parameter. The weighting tensor W is a function of the weighting parameter θ: W = R(I + θ(U − I)) with the unit tensor I, the right stretch tensor U and rotation tensor R. The weighting parameter θ is in the range [0, 1]. The tensors U and R are resulting from a polar decomposition of the deformation gradient F (Sect. 4.2.1): F =RU Examples for Weighting Parameter. Two exemplary cases are examined to illustrate the inﬂuence of the weighting parameter θ. Case 1: a = 0. The inﬂuence of stretch is neglected: W =R resulting in stretch independence of the conductivity: σs = RσRT Case 2: a = 1. The conductivity is weighted by the deformation gradient: W = RU = F The conductivity σ is transformed to the conductivity σs by: σs =

1 F σF T detF

Proof. Aim of the following derivation is the deﬁnition of a transformation rule for electrical conductivity tensors [387]. In conjunction with Poisson’s equations for ﬁelds of stationary electrical current the transformation rule leads to potentials functions, which are independent of material deformation. Different domains are distinguished: The domain Ω0 is interpreted as reference. The domain Ωt is resulting from deformation, i.e. coordinate transformation, of the reference. Poisson’s equation can be solved indirectly by minimizing an equivalent integral Π deﬁned in a domain Ω concerning the unknown potential function

C Model of Stretch-Dependent Conductivity

295

φ [4]. Commonly, boundary conditions are added to assure uniqueness of the solution. The equivalent integral Π0 describes the electrical power in the reference domain Ω0 : 1 Π0 = (∇φ0 )T σ0 (∇φ0 ) + f0 φ0 dΩ0 (C.1) Ω0 2 with the conductivity tensor σ0 , the electrical source density current f0 and the electrical potential function φ0 . A Dirichlet condition speciﬁes the values at some part of the boundary Γ0,D ⊂ Γ0 with the function u0 : φ0 (x) = u0 (x) for x ∈ Γ0,D Equivalently, an integral Πt can be constructed in the deformed domain Ωt : 1 Πt = (∇φt )T σt (∇φt ) + ft φt dΩt Ωt 2 with the conductivity tensor σt , the electrical source density current ft and the electrical potential function φt . A Dirichlet condition speciﬁes the values at some part of the boundary Γt,D ⊂ Γt with the function ut : φt (x) = ut (x) for x ∈ Γt,D The searched transformation rule for conductivity tensors necessitates equality of the potential functions at corresponding points: φ0 (0 x) = φt (t x) with the coordinate vectors 0 x and t x as deﬁned in Sect. 4.2.1. This equality is valid also at the boundaries Γ0,D and Γt,D . The integral Πt can be transformed into domain Ω0 :

1 Πt = (G∇φ)T σt (G∇φ) + ft φ J dΩ0 2 Ω

0 1 ∇φT (GT σt G)∇φ + ft φ J dΩ0 = (C.2) Ω0 2 with the Jacobian J and the reverse deformation gradient G determined by the coordinate transformation. Comparison of equation C.1 and C.2 is applied to derive the transformation rule for conductivity tensors concerning deformation. The minimization of the integrals Π0 and Πt concerning φ delivers: ∇ · (σ0 ∇φ0 ) = f0 ∇ · (GT σt G)∇φt = ft

296

Appendix

Equal potential functions are resulting from: σ0 = GT σt G f0 = ft delivering a transformation rule: σt = F σ0 F T with the deformation gradient F = G−1 . If the current per reference volume is assumed to be equal in the original and deformed conﬁguration, the current source densities are determined by: f0 (0 x) =

1 t ft ( x) J

Thus, the transformation rule is given by: σt =

F σ0 F T J

(C.3)

Usage of the with equation C.3 transformed conductivity and of the unmodiﬁed conductivity leads to the cases 1 and 2, respectively. Intermediate behavior can be deﬁned by an using an appropriate weighting function W instead of the deformation gradient F . Extension. Anisotropic behavior of the transformation rule can be deﬁned by substitution of the weighing parameter θ with an appropriate weighting parameter tensor of higher order, e.g. the second order diagonal tensor Θ:   θx 0 0 Θ =  0 θy 0  0 0 θz C.3 Restricted Formulation in Material Coordinate System Extraction of Stretch. The stretch of myoﬁbers in a voxel is determined by applying the deformation gradient F to the base of the material coordinate system M : M = FM Base vectors of the material coordinate system M are the ﬁber orientation Mx , the sheet orientation My , and the sheet normal Mz : M = (Mx |My |Mz ) The stretch sx , sy , and sz in direction of the ﬁber, the sheet and the sheet normal, respectively, are the lengths of the transformed corresponding base vectors M x , M y , and M z :

C Model of Stretch-Dependent Conductivity

h

σ

h’

d

297

σ’ d’

w

w’

Fig. C.2. Cube and deformed cube. The undeformed cube is parameterized by a conductivity σ, width w, height h, and depth d. The deformed cube’s parameters are a conductivity σ , width w , height h , and depth d .

M2 x sy = M y2 sz = M z2

sx =

Construction and Scaling of Conductivity Tensor. The conductivity tensor inﬂuenced by stretch in a local coordinate system is determined by:   s 0 0 (( syxsz − 1)θ + 1)σx s   0 0 (( sxysz − 1)θ + 1)σy σs,local =   sz 0 0 (( sx sy − 1)θ + 1)σz with the conductivity σx in direction of the ﬁber, σy in direction of the sheet, and σz in direction of the sheet normal. The weighting parameter θ allows to select a speciﬁc material behavior. For isovolumetric deformations, sx sy sz = 1, the conductivity tensor reduces to:   2 ((sx − 1)θ + 1)σx 0 0  0 ((s2y − 1)θ + 1)σy 0 σs,local =  2 0 0 ((sz − 1)θ + 1)σz Examples for Weighting Parameters. To illustrate the inﬂuence of the weighting parameter θ, two cases are exemplary examined. The examples base on a cube with a conductivity σ (in x-direction), a height h, a width w = h, and a depth d = h (Fig. C.2). Hereby, the resistor R (in x-direction) of the cube is determined by R=

1 hσ

The cube is isovolumetric, transversal isotropic deformed with a stretch s, which delivers a deformed cube of width w = hs, height h = √hs , and depth

d = √hs . The conductivity of the deformed cube σ is scaled with the weighting factor θ to

298

Appendix

σ = ((s2 − 1)θ + 1)σ The resistor of the deformed cube R is calculated by: R =

s2 s2 = hσ h((s2 − 1)θ + 1)σ

Case 1: θ = 0. The inﬂuence of stretch is inhibited: Rθ=0 =

s2 hσ

resulting in a quadratic dependency of a corresponding resistor with respect to the stretch. Case 2: θ = 1. The corresponding resistor is independent on stretch: = Rθ=1

1 hσ

C.4 Coordinate System Transformation A polar decomposition of the deformation gradient F delivers the rotation matrix RF , which is needed in conjunction with the rotation of the material coordinate system RM to construct a summary rotation matrix R: R = RM RF The summary rotation matrix R is applied to transform the conductivity tensor σs,local from the local coordinate into the global coordinate system σs,global : σs,global = Rσs,local RT

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Index

Acetylcholine see ACh ACh 183 Actin 127, 130, 237 Active contour 106 Adenosine diphosphate see ADP Adenosine triphosphate see ATP ADP 237 Aﬃne tensor 8 Aﬃne transformation 7, 94 Anisotropy 53 Aorta 139 Arteria coronaria 139 Arteria pulmonalis 139 ATP 161, 162, 183, 237, 238 ATPase 161, 162 Atrioventricular node 140, 201 Atrioventricular septum 137 Atrioventricular valves 137 Atrium 137 Atrium proper 137 Auriculum 137 Average ﬁlter 99 Bachmann bundle 140 Balloon 106 Barium 161 Beeler-Reuter model 174 Bidomain model 209, 277, 280 Bijective 7 Bilayer 122 Boundary conditions 29, 42 Bulk modulus 79 Ca

162, 237

F.B. Sachse: LNCS 2966, pp. 323–327, 2004. c Springer-Verlag Berlin Heidelberg 2004

Ca channel 125, 129, 130, 161 Ca pump 162, 237 Cadmium 161 Calcium see Ca Calcium channel see Ca channel Calcium release channel 162 Calcium spark 162, 237 Calmodulin 122 Canny-Deriche-Monga ﬁlter 101 Carbon dioxide 163 Cartesian tensor 8 Cauchy strain tensor 73 Cauchy stress tensor 74 Cauchy-Green right dilation tensor Cell membrane 122, 164 Cellular automaton 195, 273 Cesium 161 Chlorine channel see Cl channel Cholesky algorithm 12 Cl chanel 129 Closing 101, 153 CMISS 260 Cobalt 161 Collagen 133, 139 Computed tomography see CT Conductivity 50, 52, 55 Conductivity tensor 51, 52, 294 Confocal truncated ellipsoids 142 Conjugate gradient method 14 Connexin 131, 163 Connexon 131 Constitutive relationship 78, 222 Continuity 260

73

324

Index

Cooperativity 245, 253 Courtemanche-Ramirez-Nattel model 211 Crista terminalis 138, 140 Cristae 125 Cross-bridge cycling 237, 257 Cryomacrotom 146 Cryosection 146 CT 91, 144 Cytoskeleton 122, 130 da Vinci see Vinci DAD 180, 218 Deformable model 106 Deformation gradient 70 Delayed afterdepolarisation see DAD Demir-Clark-Murphey-Giles model 180 Demiray model 225 Dendrotoxins 161 Desmin 130 Desmosomes 125 Diadic space 129, 183 Diﬀusion equation 28 Diﬀusion tensor 152, 207 Diﬀusion weighted MRT 152 Dihydropyridines receptors 161 Dilation ﬁlter 100 Discontinuous propagation 193 DTI see Diﬀusion weighted MRT EAD 180, 218 Early afterdepolarisation see EAD Einstein summation convention 6 Einthoven leads 199 Elasticity 78, 79 Elastin 133 Electric conductivity 52, 55 Electrocardiogram 189 Electrocardiography 189 Endomysium 134 Epimysium 134 Equations of motion 75 Equilibrium voltage 164–166 Equivalent integral 59 Erosion ﬁlter 100 Euler method 24, 281 Euler-Almansi strain tensor 73 Eulerian conﬁguration 70

Eustachian valve

140

F-actin 127, 130 Fasciae adherentes 125 Finite diﬀerences method 43, 63 Finite element method 30, 57, 83, 264 FitzHugh-Nagumo model 207 Foramen ovalis 138 Fossa ovalis 137 Full-Multigrid method 20 G-actin 127, 130 Galerkin method 31 Ganglions 141 Gap junctions 131, 163 Gauss algorithm 10 Gauss quadrature 23 Gauss-Seidel method 16 Gl¨ anzel-Sachse-Seemann model 253, 271 Goldberger leads 199 Goldman-Hodgkin-Katz equation 166 Gradient ﬁlter 99 Green strain tensor 73 Green-Lagrange strain tensor 73, 86 Guccione-McCulloch-Waldman model 232 H channel 129 H pump 125, 162 H-Na exchanger 125, 162 Halothane 163 Heptanol 163 Heterogeneity 183 Hill model 240, 245, 246 His bundle 137, 140, 192 Hodgkin-Huxley model 168 Homogeneous transformation 95 Hooke’s law 79, 80, 82 Horowitz-Lanir-Yin-Perl-SheinmanStrumpf model 230 Hounsﬁeld values 147 Humphrey-Strumpf-Yin model 231 Humphrey-Yin model 229 Hunter-McCulloch-ter Keurs model 249, 268 Hunter-Nash-Sands model 233 Hybrid ﬁlter 101 Hydrogen channel see H channel Hydrogen pump see H pump

Index Hydrogen-sodium exchanger exchanger Hydrolysis 162, 237 Hyper-polarization 181 Hyperelasticity 82 Hypertension 134 Hypertrophy 134 Hypoelasticity 83

see H-Na

Image energy 107 Incompressibility 72, 82 Infarction 134 Initial value problem 24 Initial values 29 Intercalated disks 124, 131 Intermediate ﬁlaments 125, 130 Invariant 9 Ionic channel 129, 130, 160, 167 Ionic exchanger 129, 130, 161 Ionic pump 129, 161 Isovolumetry 72, 82 Jacobi method 16 Jacobian 7 Jacobian matrix 6 Janz-Kubert-Moriarty-Grimm model 226 Junctional sarcoplasmic reticulum 180 K channel

129, 130, 161

L-type calcium channel 130, 161, 237 Lagrangian conﬁguration 70 Lagrangian strain tensor 73 Lamin 130 Lamination 136, 145, 146 Landesberg-Sideman model 247, 268 Laplace equation 28 Leonaro da Vinci see Vinci Level set methods 110 Linear strain tensor 74 Longitudinal tubuli 129 Luo-Rudy model 176, 179, 269 Magnesium 161, 162 Magnetic resonance imaging see MRT Magnetic resonance tomography see MRT Magnetocardiogram 189

325

Magnetocardiography 189 Mass element matrix 40 Maxwell’s equations 50 Mechano-electric feedback 185 Median ﬁlter 100, 153 MEET Man tools 260 Microﬁlaments 130 Microscopic model 195 Microscopic propagation 193 Microtubules 130 Mitochondrion 125, 162 Monodomain model 208, 277, 282 Mooney-Rivlin model 82 Moore neighborhood 196 MRT 91, 144, 152 Multi-electrode catheters 191 Multi-electrode socks 191 Multigrid method 18, 20 Musculi petinati 138 Myocyte 121 Myoﬁbrils 125 Myoﬁlaments 127, 237 Myosin 128, 237 Na channel 130 Na-Ca exchanger 125, 130, 161, 162, 237 Na-K pump 161 Natural coordinates 35 Nebulin 125, 237 Needleman-Rabinowitz-BogenMcMahon model 228 Nernst equation 165 Nernst voltage 165, 168, 174 Nernst-Planck equation 166 Nervous system 141 Network sarcoplasmic reticulum 180 Nexus see Gap junctions Nickel 161 Noble model 171 Noble-Varghese-Kohl-Noble model 183, 212, 269, 282 Nucleus 125 Numerical integration 21 Okamoto-Moulton-Peterson-Li-PasqueGuccione model 235 Opening 101, 153 Optical Mapping 189

326

Index

Ordinary diﬀerential equation 23 Orientation 115, 136, 138, 145, 146, 154 Papillary muscle 136 Partial diﬀerential equation 27 Patch clamp 158 Perimysium 134 Permeability 50, 52, 57 Permittivity 50, 52, 55 Phosphate 237 Phospholamban 162, 245 Phospholipid 122 Piola-Kirchhoﬀ stress tensor 74, 75 Poisson equation 28, 31, 40, 46, 51, 57, 63 Polar decomposition 72 Polynomial transformation 96 Positive-deﬁniteness 10 Potassium channel see K channel Priebe-Beuckelmann model 182, 271 Principal component transform 112 Principle of virtual displacements 76 Prolongation 18 Purkinje ﬁber 141, 171, 192, 213 Quabain 161 Quadrature 21 Radial basis function 96 Rankin-Arentzen-McHale-LingAnderson model 227 Reaction diﬀusion system 203 Region growing 104, 153 Restriction 18 RF ablation 201 Rice-Winslow-Hunter model 250, 268 Ritz method 30 Rogers-McCulloch model 207 Rotating wave 194 Runge-Kutta method 25 Sarco-endoplasmatic reticulum calcium ATPase see SERCA Sarcolemma 122, 158, 161, 164 Sarcomere 125, 237 Sarcomere overlap function 252, 253 Sarcoplasmic calcium pump see SERCA

Sarcoplasmic reticulum 129, 162 Scroll wave 199 SERCA 162 Shape-function 34, 57, 84 Shear modulus 80 Simpson’s rule 22 Singular value decomposition 20 Sinus node 140, 192, 201 Sliding ﬁlament theory 246 Smoothing 18 Snake 106 Sodium channel see Na channel, 160 Sodium-calcium exchanger see Na-Ca exchanger SOR 17 Spark 162, 237 Sparse matrix 10 Spiral see Spiral wave Spiral wave 194, 199 Steepest descent method 13 Stiﬀness matrix 40, 60, 61 Stochastic propagation 193 Strain tensor 73 Stress tensor 74, 261 Stretch-activated ionic channels 186, 187, 287 Stretch-dependent conductivity 293 Strophantin 161 Subsarcolemmal cisterna 129 Successive overrelaxation see SOR Symmetric matrix 10 Symmetry 8 System of linear equations 9 T-type calcium channel 130, 161 Tawara bundle branch 141, 192 Taylor series expansion 22, 25, 26, 47 Tensor 6 Terminal cisterna 129 Tetraethylammonium 161 Texture 115 Thebesian valve 140 Thresholding 103, 148, 153 Titin 125, 237 Topologically adaptable active contour 109 Trabeculae 136 Transpose 10 Transversal isotropy 53, 281

Index Transversal tubuli 122, 129 Trapezoidal rule 22 Triadic space 129 Triggered activity 180, 218 Tropomyosin 127, 257 Troponin 127, 246, 257 Truncation factor 142 Tubulin 130 Ultrasonic tomography see US Unidirectional block 194, 199 US 91, 144 Usyk-Mazhari-McCulloch model

327

Vena cava superior 139, 202 Ventricle 134 Vinci 2 Virtual displacements 76 Viscoelasticity 78, 83 Visible Female 147 Visible Human Project 91, 144, 146 Visible Man 147

236

Valves 139 Valvula foraminis ovalis see Thebesian valve van Neumann neighborhood 196 Vena cava 138, 139 Vena cava inferior 139, 202

Watershed 105 Wave equation 28 Wenckebach periodicity 178 Werner-Sachse-Seemann-D¨ ossel model 196 Wilson leads 199 Yang-Tabber model Z disk

122, 129

231